CN111947625A - Measurable BIM (building information modeling) method for measuring rural homestead based on CORS (continuous operational reference system) and integrating unmanned aerial vehicle laser scanning and oblique photography - Google Patents
Measurable BIM (building information modeling) method for measuring rural homestead based on CORS (continuous operational reference system) and integrating unmanned aerial vehicle laser scanning and oblique photography Download PDFInfo
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
- G01C11/025—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures by scanning the object
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
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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 relates to a measurable BIM (building information modeling) method for measuring a rural homestead based on the integration of laser scanning and oblique photography of an Unmanned Aerial Vehicle (UAV) based on CORS (continuous operational reference system), which comprises the following steps: step 1, acquiring three-dimensional lattice data of a house of a rural homestead; and 2, carrying out registration splicing and denoising simplification on the original point cloud data to obtain high-precision point cloud data. The invention has the beneficial effects that: the cadastral survey is carried out indoors on the basis of the measurable three-dimensional BIM, elevation points with proper density are collected, and the land feature, the landform, the ditch, the sill and the like can be mapped on the measurable three-dimensional BIM through the interior, so that a large amount of field data collection work is omitted; the measurable three-dimensional BIM can be used for acquiring data of spatial elements of rural homesteads, so that the means for acquiring spatial data are enriched; the measurable three-dimensional BIM is used for visual browsing, all scenes in a 360-degree range around a shooting place can be completely displayed, and an operator can freely rotate to browse and stretch the scene by using a mouse, so that the method is very visual.
Description
Technical Field
The invention belongs to the field of laser scanning and oblique photography, and particularly relates to a measurable BIM (building information modeling) method for rural home bases based on unmanned aerial vehicle laser scanning and oblique photography integration of a CORS (continuous operational reference system).
Background
The concrete contents of the cadastral element survey of the rural homestead comprise: first, the cadastral element survey early preparation stage. The early preparation is generally some preparation work which is required before ownership investigation, and mainly comprises dividing cadastral areas and cadastral subareas, collecting and sorting relevant data such as land ownership sources, compiling a base map of investigation work, pre-compiling land parcel codes and the like; second, the ownership addresses are investigated. The land ownership condition is mainly investigated on the conditions of land ownership property, land source, land authorized persons, land use, land position and other sharing and the like; third, the ownership addresses are investigated. The main contents of the boundary survey comprise landmark setting, boundary pointing, boundary side length measurement and the like; fourthly, drawing a land parcel sketch. A land parcel diagram is a description of land locations, address lines, address points, relationships between adjacent lands. After the verification and verification of the land parcel address are finished, drawing a land parcel draft on site according to the survey base map, the boundary point, the dimension boundary side length and the distance between adjacent land features; and fifthly, filling out a cadastral questionnaire. The cadastral questionnaire is the original record for determining the rights boundary, and is filled in strictly according to the specified requirements and format. In the whole work flow, cadastral survey is the basis of all the work.
However, the traditional cadastral measurement technology mainly uses manpower and material resources to perform on-site measurement, which not only has huge engineering quantity and overlong engineering process time, but also cannot ensure the accuracy of data. Meanwhile, the geographic environment of the rural homestead is relatively complex and the terrain is severe, and the basic measurement information of the rural homestead cannot be conveniently and quickly obtained by adopting the conventional measurement method. In addition, the contents of house measurement are added in 2016 rural cadastral survey, and the house corner point coordinates are required to be measured by adopting an analytical method, the house side length is measured on the spot, and the house area is calculated by adopting geometric elements, so that the clear boundary address and the accurate area of the real estate unit are ensured. And (3) carrying out the corner point measurement precision of the rural homestead survey according to the boundary point measurement precision in the cadastral survey regulation, namely the corner point measurement precision meets the requirement that the median error is less than or equal to 5 cm. If the coordinates of the room corner points are obtained by adopting a common aerospace photogrammetry technical means, the precision cannot meet the requirement; and the measurement is completely carried out on the spot by adopting measurement means such as GPS RTK or total station, the measurement efficiency is low, and the field workload is huge.
Therefore, the traditional cadastral measurement operation has the disadvantages that firstly, the field sketch drawing can be completed by a high surveying and mapping technology level operator; secondly, collecting broken points in detail, wherein omission is avoided, otherwise, the precision cannot meet the requirement, and the characteristic points of buildings in each household need to be mapped without omission; the field transferring and drawing workload is large, the field transferring and drawing progress and the engineering quality are often influenced due to imperfect sketch and imperfect feature point collection, and the total station is required to be reworked for many times to erect the feature points of the ground object for supplementary mining; fourthly, the boundary point is not consistent with the drawing in the field by spray painting, and the requirement can be met only by repeated measurement and adjustment and painting operations; due to the fact that drawing of the plan view is incomplete, right registration is affected, the boundary is inaccurate, errors exist, and unnecessary right dispute is caused; sixthly, the bottom graph is not intuitive and difficult to identify, a user often cannot see the drawing, geographical directions on the drawing are unclear, symbols in the drawing cannot be identified, the user can hardly find a position at home smoothly, particularly for farmers who are not professional in measurement, the user can not quickly and accurately find the position on the drawing of a home base, unnecessary rework operation is often caused due to wrong identification or complete identification, corresponding positions are difficult to find for dense residential areas and home bases with scattered special tables, even which drawing cannot be found, omission, errors and rework probability are high, and a large amount of working time is wasted. Becomes a technical bottleneck influencing the homebase investigation progress.
Since the 21 st century, a large number of new technologies have been continuously generated, thereby also promoting a great improvement in productivity. For the surveying field of mapping engineering, the emergence and use of unmanned aerial vehicles are one of the great breakthroughs. As a supplementary means for obtaining information by space flight and aviation photogrammetry and satellite remote sensing, the unmanned aerial vehicle can carry various high-precision airborne remote sensing devices, such as a high-resolution CCD digital camera, a 3D laser radar scanner, an infrared scanner, a magnetic measuring instrument and the like to obtain information, image information is processed by corresponding remote sensing software, required surveying and mapping products are manufactured according to certain precision requirements, and a large number of convenient conditions are created for the surveying and mapping field.
As is well known, the main tasks of rural homestead survey are to draw a homestead ownership plan, establish a database and issue a land use certificate. The precision requirement of the homestead belongs to a plan view which is higher than the requirement of a 1: 500 topographic map, the error of corner points of adjacent houses is not more than +/-5 cm, and the error of the corner points of the adjacent houses which is more than +/-10 cm is not more than 10 percent of the total number of spot checks. At present, the unmanned aerial vehicle low-altitude remote sensing mapping can meet the requirement that the point position error of the building characteristic point meets +/-5 cm when the unmanned aerial vehicle adopts ultra-low-altitude flight (the flight height is less than 75m) under the conditions that the weather condition is good and the wind power does not exceed three levels. Namely, the requirement of 1: 500 topographic map is met, but the requirement of rural homestead survey cannot be met.
Practice proves that the geometric accuracy required by cadastral survey specifications of rural home grounds can not be met by simply relying on the oblique photogrammetry of the unmanned aerial vehicle for operation. Moreover, the BIM of the rural homestead land constructed according to the point cloud data lacks the support of image texture data and can not generate corresponding measurable three-dimensional BIM. Therefore, for cadastral survey in rural home parcel, the problem must be solved by integrating advanced unmanned aerial vehicle 3D lidar scanning and oblique photogrammetry technologies.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a construction method of measurable BIM based on the integration of unmanned aerial vehicle laser scanning and oblique photography of CORS and a method for measuring rural home base.
The construction method of the measurable BIM based on the CORS and integrating the unmanned aerial vehicle laser scanning and oblique photography comprises the following steps:
step 1.1, a plurality of scanning route stations are arranged to scan an object in the air, and complete point cloud information of a target is obtained: during scanning, each scanning route station firstly carries out 360-degree panoramic scanning to obtain a rough scanning map; adjusting scanning parameters on the basis of the rough scanning map to perform accurate scanning to obtain original point cloud data (a fine scanning map);
step 1.2, monitoring the geodetic coordinates of the ground position of a station by using a network GPS RTK connected with a CORS system during field operation, measuring the height of an instrument and providing an absolute positioning reference of point cloud data; if the scanning range of the scanning airline station lacks a reference control point, selecting a position with obvious characteristics as a resolving coordinate origin when the scanning airline station carries out GPS differential processing, and bringing coordinates of other points into a coordinate system determined by the point;
step 2.1, registration and splicing: a plurality of stations are distributed around the measured object, and scanning of the stations is performed to obtain measured object surface measuring point coordinates based on each station; converting the cloud data of each station into a geodetic coordinate system, unifying the coordinate system, and performing three-dimensional transformation (such as translation, rotation and scaling) on the coordinate system; converting a scanner coordinate system SOCS into a conversion matrix of a project coordinate system PRCS, and converting the project coordinate system PRCS into a conversion matrix of a global coordinate system GLCS; performing three-dimensional transformation on the local coordinate system to obtain a three-dimensional point cloud coordinate system; searching for homonymous points and calculating parameters such as relative distance and position included angle between each point and the station under two coordinate systems by using a network GPS RTK technology of a CORS system built in an unmanned aerial vehicle aerial survey system and coordinate data measured by all stations, and determining a transformation matrix T3DObtaining complete point cloud data of a measured object; transformation matrix T3DComprises the following steps:
in the above formula, a11～a43The expression parameters are the relative distance and the position included angle between each point and the station under two coordinate systems;
step 2.2, denoising simplification: removing noise points in complete point cloud data of a measured object, wherein the noise points comprise drift points (which are sparse and scattered points obviously far away from the measured object and floating outside the point cloud), isolated points (which are far away from a point cloud gathering area and are small and concentrated), redundant points (which are scanning points not belonging to the measured object) and mixed points (which are mixed with the point cloud of the measured object and are data points not belonging to the measured object); performing hole repairing on the point cloud data after the noise points are removed; the hole repairing is to establish a curved surface according to the positions of discrete points around the point cloud data hole and then add point data on the curved surface; reducing the distance between the point cloud data after the hole is repaired;
3.1, creating a basic geometric body to obtain a three-dimensional solid model;
3.2, creating a polygonal plane for the three-dimensional solid model;
step 3.3, texture mapping: the texture mapping work is to endow materials to the model, so that the three-dimensional model looks more real, a plurality of non-measuring digital cameras are carried by the unmanned aerial vehicle to obtain the data of the top surface and the vertical surface of the building, and the texture mapping method has the advantages of short production period, high efficiency, high precision, low cost and the like; a network GPS RTK technology and a high-precision inertial navigation IMU system of a CORS system built in an unmanned aerial vehicle aerial survey system respectively provide real-time geographic position and state information; and then, carrying out aerial triangulation, integrating the point cloud data into a unified geographic coordinate system, and generating image texture data of the rural home base with the geographic coordinate system.
Preferably, the step 3 comprises the following steps:
3.3.1, carrying a non-measuring digital camera in the oblique photogrammetry operation of the unmanned aerial vehicle, acquiring multi-view oblique images from a vertical angle and a plurality of oblique angles simultaneously by adopting a regional data acquisition mode, breaking through the limitation of shooting from the vertical angle in the traditional aerial survey, and acquiring the top surface and elevation data of a building as regional images;
3.3.2, adopting an image-control-free oblique photogrammetry technology, enabling an unmanned aerial vehicle to become an aerial GPS mobile station through an internet GPS RTK technology and a high-precision inertial navigation IMU system of a CORS system which are arranged in an unmanned aerial vehicle aerial survey system, and acquiring real-time geographic position and state information of high-density and high-precision aerial drawing image control points by depending on the internet GPS RTK technology, wherein the precision positioning technology enables the aerial drawing position information to realize the same functions as ground control points;
step 3.3.3, aerial triangulation: continuously shooting aerial photography pictures with a certain overlapping rate by utilizing the inherent geometric characteristics of aerial mapping, establishing a corresponding flight route model or area network model on the same site by using an image-control-free oblique photogrammetry technology according to an image-control-free point, and acquiring the plane coordinates and the elevation of an encrypted point;
3.3.4, after the three-dimensional solid model is established, using the real shot picture to perform deformation-free texture mapping on the three-dimensional solid model: determining the mapping relation between each real shot picture and the three-dimensional entity model in a coordinate system conversion mode, carrying out deformation-free texture mapping on the three-dimensional entity model, and realizing the approximate expression of the texture model on a real scene in multiple aspects of tone, material, illumination and the like by using a virtual reality technology;
and 3.3.5, fusing the three-dimensional dot matrix data of the house of the rural homestead and the image texture data in the step 1 to generate measurable three-dimensional BIM.
Preferably, when the registration splicing is performed in step 2.1:
for the point cloud registration with characteristics, selecting characteristic information from point cloud data of different sites, and solving transformation parameters to obtain a conversion relation of two groups of point cloud data so as to realize the point cloud registration;
for the registration of the point cloud without the characteristics, a man-machine interaction mode is adopted, and common points with obvious characteristics are manually specified in the adjacent point cloud data to serve as iterative initial values of computer software operation.
Preferably, the rotation matrix R and the translation distance T are solved when the homonymy point is determined in step 2.1.
Preferably, when the unmanned aerial vehicle oblique photogrammetry operation in the step 3.3.1 performs track planning, the effective image range is larger than the mapping range, and the overlapping rate of the film in the area and the lateral overlapping rate of the track between the areas meet the requirement of space-three encryption calculation; the image should be clear and have richer layers; the flight height and the image resolution of the unmanned aerial vehicle are adapted to the proportion scale of the image; the image color saturation is moderate, and no shadow or halo exists; the shadow area of a single image is less than or equal to 1/3 of the total area of the image.
Preferably, said step 3.3.3 hollow medium triangulation obtains geodetic coordinates of the encrypted points by relative orientation, automatic image matching and absolute orientation:
relative orientation: automatically extracting the image coordinates of the homonymous orientation points of two adjacent aerial photographs by means of an image matching technology, unifying the coordinate systems of the other aerial photographs with the same aerial photograph by taking the first matched aerial photograph coordinate system in the area as a reference, and simultaneously carrying out adjustment calculation on the matching result to remove points with low matching precision; then all the orientation points with the same name as the next flight band in the first flight band are used as control points, the relative orientation is carried out on the next flight band, the adjustment calculation is carried out simultaneously, and the images in the next flight band are unified into the coordinate system of the previous flight band;
automatic image matching: unifying all aerial photography films into a relative coordinate system, automatically extracting all connection points of the aerial photography films in the area through a multi-view image matching technology, and outputting area orientation point (homonymy image points, namely discrete points) cloud data;
absolute orientation: constructing a three-dimensional model similar to the ground, converting the three-dimensional model from photogrammetric coordinates to ground measurement coordinates by taking a known point measured on the ground as a control point, and recovering absolute coordinates of the model relative to the ground; and (3) adopting the connection points in the relative orientation as control points to complete the conversion from the relative coordinate system of the area to the absolute coordinate system, wherein the conversion principle is the same as that of the three-dimensional point cloud coordinate system, and obtaining the encrypted point coordinates of each photo.
Preferably, in step 3.3.4, the Open GL technique is adopted to perform texture mapping on the multi-view oblique image: firstly, an Open GL display environment is constructed, and then a model file in an obj format and an image file in a jpg format are read by utilizing Open GL; and then, carrying out three-dimensional model reconstruction on the model file in the obj format, selecting the optimal texture from the image file in the jpg format to obtain texture coordinates with the optimized texture, and binding and mapping the texture coordinates by utilizing Open GL.
The measurable BIM measuring method based on the CORS and integrating the unmanned aerial vehicle laser scanning and oblique photography for the rural homestead comprises the following steps:
step 3.1, fixed path browsing: browsing the three-dimensional real scene of the geographic entity from any angle according to the fixed path;
step 3.2, browsing the active path: browsing the three-dimensional real scene of the geographic entity from any angle according to the mouse path;
step 4, using measurable three-dimensional BIM as a survey base map;
step 4.1, when filling in the registration form, letting the householder identify the position and the boundary position of the householder, recording the boundary of the householder with a pen, filling in the name of the householder and the names of the left and right neighbors, and identifying the boundaries between the left and right neighbors and the house; filling all data information in the registration form at one time to complete the boundary investigation of the ownership;
step 4.2, after the registration form filling is finished, carrying out boundary point spray painting on the site with measurable three-dimensional BIM confirmed by the right boundary; aiming at the position of the disputed address point, coordinating with other related personnel such as village committee and the like, performing disputed address point identification and spray painting, and marking the disputed address point on the DMI to prepare for next step of home-based ground plane map mapping and land use certificate issuing;
step 5, using measurable three-dimensional BIM to inquire attribute information;
and 6, using measurable three-dimensional BIM to label attributes: customizing annotation content, such as geographic entity type, name, ownership and the like, on the measurable three-dimensional BIM; marking the user on the measurable three-dimensional BIM through a tool; marking ID, marking user-defined attributes (codes, names, classifications and the like), marking corresponding images and marking geographic positions.
The invention has the beneficial effects that: performing cadastral survey based on a measurable three-dimensional BIM indoor, referring to an internal work survey map, purposefully and exhaustively collecting coordinate data of boundary points, and collecting elevation points with proper density; the land feature, the landform, the ditch, the sill and the like can be mapped on the measurable three-dimensional BIM by the industry; measurable three-dimensional BIM mapping can be adopted in the interior industry for building feature points in each resident house; therefore, a large amount of field data acquisition work is omitted. The data acquisition of the spatial elements of the rural homestead can be carried out based on the measurable three-dimensional BIM, and the means of spatial data acquisition are enriched. The measurable three-dimensional BIM is used for visual browsing, all scenes in a 360-degree range around a shooting place can be completely displayed, and an operator can freely rotate to browse and stretch the scene by using a mouse, so that the method is very visual; the measurable three-dimensional BIM can directly perform operations such as attribute query on the target of the rural homestead on the BIM. In the room, the measurable three-dimensional BIM is used as a survey base map, all data information required in a registration form is completed at one time, and a boundary survey task of ownership is completed at the same time; by using the intelligent mobile phone or the notebook computer, cadastral survey work and ownership investigation work of the land parcel of the field rural home base can be finished, so that the system is very convenient and greatly improves the working benefit.
Drawings
FIG. 1 is a diagram of a system for collecting scanning measurement data of an airborne 3D laser radar;
FIG. 2 is a coordinate system transformation diagram;
FIG. 3 is a flow chart of the construction of a three-dimensional model;
FIG. 4 is a flow diagram of a texture mapping technique.
Description of reference numerals: 360 degree panoramic camera 1, WIFI antenna 2, assembly control module 3, three-dimensional laser scanning equipment 4, satellite positioning module 5, inertial navigation device 6, high performance integrated circuit board computer 7.
Detailed Description
The present invention will be further described with reference to the following examples. The following examples are set forth merely to aid in the understanding of the invention. It should be noted that, for a person skilled in the art, several modifications can be made to the invention without departing from the principle of the invention, and these modifications and modifications also fall within the protection scope of the claims of the present invention.
The normal scanning precision of the 3D laser radar scanner of the unmanned aerial vehicle can reach the centimeter level, the precision of the acquired data is high, and the geometric precision requirement required by the cadastral survey standard of the rural home base can be met. As shown in fig. 1, an unmanned aerial vehicle 3D laser radar scanner carries an airborne 3D laser radar scanning measurement data acquisition system, wherein the airborne 3D laser radar scanning measurement data acquisition system comprises a 360-degree panoramic camera 1, a WIFI antenna 2, an assembly control module 3, a three-dimensional laser scanning device 4, a satellite positioning module 5, an inertial navigation device 6 and a high-performance board computer 7; meanwhile, the cloud data quality and the reduction degree of the target object point cloud with irregular building scanning and complex appearance are high. And the unmanned aerial vehicle three-dimensional laser radar scanner adopts the mode of many sight stations to obtain some cloud data in the sky, and the laser emission pitch angle is wide, can not appear because the harsh or human factor influence of terrain condition can't lay the scanning website, or lack the system high point in the scanning area, or scan target top surpass the circumstances such as scanning range and take place, cause some cloud data deletions.
As an example:
firstly, as shown in fig. 3, a measurable BIM integrated with laser scanning and oblique photography of the unmanned aerial vehicle based on the CORS is constructed:
and generating image texture data of the rural home base land parcel with a geographic coordinate system by the unmanned aerial vehicle oblique photography technology based on the CORS system. On the basis of the three-dimensional lattice data of land parcel of the rural home base, the corresponding image texture data is pasted, and the two are fused to generate the measurable three-dimensional BIM with the same geographic coordinate system. Therefore, based on the measurable three-dimensional BIM, the cadastral survey of rural home-base land parcel can be performed indoors, which becomes one of the main trends of the development of the remote sensing survey of the unmanned aerial vehicle at the present stage. Therefore, the speed is high, the use is convenient, the measurement precision meets the standard requirements, the data collection is very accurate, the possible problems in the cadastral measurement process can be solved to a great extent, and the working efficiency and the convenience of cadastral measurement of rural home bases are greatly improved.
1. Generating three-dimensional dot matrix data of a rural homestead land with a geographic coordinate system by adopting an unmanned aerial vehicle 3D laser radar scanning technology based on a CORS system, wherein a plurality of scanning line stations are distributed to scan an object from the air to obtain complete point cloud information of a target: during scanning, each scanning route station firstly carries out 360-degree panoramic scanning to obtain a rough scanning map; adjusting scanning parameters on the basis of the rough scanning map to perform accurate scanning to obtain original point cloud data (a fine scanning map); during field operation, a network GPS RTK connected with a CORS system is used for monitoring the geodetic coordinates of the ground position of a station and measuring the height of an instrument, and an absolute positioning reference of point cloud data is provided; if the scanning range of the scanning airline station lacks a reference control point, selecting a position with obvious characteristics as a resolving coordinate origin when the scanning airline station carries out GPS differential processing, and bringing coordinates of other points into a coordinate system determined by the point;
2. carrying out registration splicing and denoising simplification on the original point cloud data to obtain high-precision point cloud data: a plurality of stations are distributed around the measured object, and scanning of the stations is performed to obtain measured object surface measuring point coordinates based on each station; as shown in fig. 2, converting the cloud data of each station into a geodetic coordinate system, unifying the coordinate system, and performing three-dimensional transformation (such as translation, rotation, and scaling) on the coordinate system; in FIG. 2, the coordinate systems using SP as the subscript are allFor scanner coordinate system SOCS, using PR as the coordinate system of the subscript as project coordinate system PRCS, using GL as the coordinate system of the subscript as global coordinate system GLCS, transforming scanner coordinate system SOCS into the transformation matrix Mtop of project coordinate system PRCS, transforming project coordinate system PRCS into the transformation matrix Mpop of global coordinate system GLCS; performing three-dimensional transformation on the local coordinate system to obtain a three-dimensional point cloud coordinate system; searching for homonymous points and calculating parameters such as relative distance and position included angle between each point and the station under two coordinate systems by using a network GPS RTK technology of a CORS system built in an unmanned aerial vehicle aerial survey system and coordinate data measured by all stations, and determining a transformation matrix T3DObtaining complete point cloud data of a measured object; transformation matrix T3DComprises the following steps:
in the above formula, a11～a43The expression parameters are the relative distance and the position included angle between each point and the station under two coordinate systems;
removing noise points in complete point cloud data of a measured object, wherein the noise points comprise drift points (which are sparse and scattered points obviously far away from the measured object and floating outside the point cloud), isolated points (which are far away from a point cloud gathering area and are small and concentrated), redundant points (which are scanning points not belonging to the measured object) and mixed points (which are mixed with the point cloud of the measured object and are data points not belonging to the measured object); performing hole repairing on the point cloud data after the noise points are removed; the hole repairing is to establish a curved surface according to the positions of discrete points around the point cloud data hole and then add point data on the curved surface; reducing the distance between the point cloud data after the hole is repaired;
when registration splicing is carried out:
for the point cloud registration with characteristics, selecting characteristic information from point cloud data of different sites, and solving transformation parameters to obtain a conversion relation of two groups of point cloud data so as to realize the point cloud registration;
for the registration of the point cloud without the characteristics, a man-machine interaction mode is adopted, and common points with obvious characteristics are manually specified in the adjacent point cloud data to serve as iterative initial values of computer software operation.
And when the homonymy point is determined, firstly resolving the rotation matrix R and the translation distance T.
3. Selecting a photo by regions for high-precision point cloud data to perform texture mapping, and making a measurable three-dimensional BIM (point cloud data is a collection of points on the surface of an object in space, which are associated with each other and have a certain spatial topological relation), according to the topological relation, reducing a measured object on a three-dimensional platform to obtain a three-dimensional model):
3.1, creating a basic geometric body to obtain a three-dimensional solid model;
3.2, creating a polygonal plane for the three-dimensional solid model;
3.3, texture mapping: the texture mapping work is to endow materials to the model, so that the three-dimensional model looks more real, a plurality of non-measuring digital cameras are carried by the unmanned aerial vehicle to obtain the data of the top surface and the vertical surface of the building, and the texture mapping method has the advantages of short production period, high efficiency, high precision, low cost and the like; a network GPS RTK technology and a high-precision inertial navigation IMU system of a CORS system built in an unmanned aerial vehicle aerial survey system respectively provide real-time geographic position and state information; then, performing aerial triangulation, integrating the point cloud data into a unified geographic coordinate system, and generating image texture data of the rural homestead with the geographic coordinate system;
the unmanned aerial vehicle oblique photogrammetry operation carries a non-measurement digital camera, and multi-view oblique images are simultaneously obtained from a vertical angle and a plurality of oblique angles by adopting a regional data acquisition mode, so that the limitation of shooting from a vertical angle in the traditional aerial survey is broken through, and the top surface and vertical surface data of a building are obtained to be used as regional images; by adopting an image control-free oblique photogrammetry technology, an unmanned aerial vehicle becomes an aerial GPS mobile station through a network GPS RTK technology and a high-precision inertial navigation IMU system of a CORS system which are arranged in an aerial survey system of the unmanned aerial vehicle, and the real-time geographic position and state information of an aerial drawing image control point with high density and high precision can be obtained by depending on the network GPS RTK technology, and the precise positioning technology enables the aerial drawing position information to realize the same function as the ground control point; aerial triangulation: continuously shooting aerial photography pictures with a certain overlapping rate by utilizing the inherent geometric characteristics of aerial mapping, establishing a corresponding flight route model or area network model on the same site by using an image-control-free oblique photogrammetry technology according to an image-control-free point, and acquiring the plane coordinates and the elevation of an encrypted point; after the three-dimensional solid model is established, using the real shot picture to perform deformation-free texture mapping on the three-dimensional solid model: determining the mapping relation between each real shot picture and the three-dimensional entity model in a coordinate system conversion mode, carrying out deformation-free texture mapping on the three-dimensional entity model, and realizing the approximate expression of the texture model on a real scene in multiple aspects of tone, material, illumination and the like by using a virtual reality technology; fusing the three-dimensional lattice data of the house of the rural homestead with the image texture data to generate measurable three-dimensional BIM;
when the unmanned aerial vehicle oblique photogrammetry works to plan the flight path, the effective image range is larger than the mapping range, and the overlapping rate of the film in the area and the lateral overlapping rate of the flight path between the areas meet the requirement of space-three encryption calculation; the image should be clear and have richer layers; the flight height and the image resolution of the unmanned aerial vehicle are adapted to the proportion scale of the image; the image color saturation is moderate, and no shadow or halo exists; the shadow area of a single image is less than or equal to 1/3 of the total area of the image.
The aerial triangulation obtains geodetic coordinates of the encrypted points through relative orientation, automatic image matching and absolute orientation: relative orientation: automatically extracting the image coordinates of the homonymous orientation points of two adjacent aerial photographs by means of an image matching technology, unifying the coordinate systems of the other aerial photographs with the same aerial photograph by taking the first matched aerial photograph coordinate system in the area as a reference, and simultaneously carrying out adjustment calculation on the matching result to remove points with low matching precision; then all the orientation points with the same name as the next flight band in the first flight band are used as control points, the relative orientation is carried out on the next flight band, the adjustment calculation is carried out simultaneously, and the images in the next flight band are unified into the coordinate system of the previous flight band; automatic image matching: unifying all aerial photography films into a relative coordinate system, automatically extracting all connection points of the aerial photography films in the area through a multi-view image matching technology, and outputting area orientation point (homonymy image points, namely discrete points) cloud data; absolute orientation: constructing a three-dimensional model similar to the ground, converting the three-dimensional model from photogrammetric coordinates to ground measurement coordinates by taking a known point measured on the ground as a control point, and recovering absolute coordinates of the model relative to the ground; and (3) adopting the connection points in the relative orientation as control points to complete the conversion from the relative coordinate system of the area to the absolute coordinate system, wherein the conversion principle is the same as that of the three-dimensional point cloud coordinate system, and obtaining the encrypted point coordinates of each photo.
As shown in fig. 4, the Open GL technique is used to perform texture mapping on the multi-view oblique image: firstly, an Open GL display environment is constructed, and then a model file in an obj format and an image file in a jpg format are read by utilizing Open GL; and then, carrying out three-dimensional model reconstruction on the model file in the obj format, selecting the optimal texture from the image file in the jpg format to obtain texture coordinates with the optimized texture, and binding and mapping the texture coordinates by utilizing Open GL.
Secondly, the measurable BIM integrating the laser scanning and oblique photography of the unmanned aerial vehicle based on the CORS is used for measuring the rural homestead:
performing cadastral survey based on measurable three-dimensional BIM indoor, namely measuring geometric dimensions (measuring the length, width and height of a geographic entity, measuring the angle, area, volume and the like of the geographic entity); measuring spatial coordinates (a measure of spatial coordinates of a geographic entity); and (4) acquiring coordinate data of the boundary points purposefully and uninterruptedly and acquiring elevation points with proper density by referring to an internal work survey diagram. Features, trenches, sills, etc. can be mapped on the measurable three-dimensional BIM by industry. Measurable three-dimensional BIM mapping can be adopted in the interior industry for building feature points in each resident home. Therefore, a large amount of field data acquisition work is omitted.
Based on measurable three-dimensional BIM indoor data acquisition: the measurable three-dimensional BIM has the characteristics that the BIM is provided with real geographic space coordinates, and data acquisition of spatial elements of rural homesteads can be carried out based on the measurable three-dimensional BIM, so that the means of spatial data acquisition is enriched.
Measurable three-dimensional BIM is used as visual browsing: fixed path browsing (browsing the three-dimensional real scene of the geographic entity from any angle according to the fixed path); browsing an active path (browsing a three-dimensional real scene of a geographic entity from any angle according to a mouse path); the measurable three-dimensional BIM is a system capable of 360-degree surrounding browsing, and is characterized in that all scenes in a 360-degree range around a shooting place can be completely displayed, and an operator can freely rotate to browse and stretch the scene, so that the system is very intuitive.
Measurable three-dimensional BIM was used as a survey base: after the measurable three-dimensional BIM is manufactured, the measurable three-dimensional BIM is firstly put into a base map of a rural homestead survey for use, when a registration form is filled, a householder directly identifies the position and the boundary position of the householder, the householder directly marks the boundary of the householder by a pen, and the name of the householder, the names of left and right neighbors and the boundary confirmation with the house are filled. And completing all data information required in the registration table at one time, and completing the boundary investigation task of the ownership at the same time. And after the registration and filling of the form are finished, carrying out boundary point spray painting on the site with measurable three-dimensional BIM confirmed by the boundary indication. And (3) coordinating related personnel such as village committee and the like to the position of the disputed address point to finish the identification and spray drawing work of the disputed address point, and marking on the DMI to prepare for next home base plane map drawing and land use certificate issuing.
Measurable three-dimensional BIM is used as attribute information query: the measurable three-dimensional BIM is characterized in that the BIM is provided with real geographic space coordinates and various attribute information, and the BIM can directly carry out operations such as attribute query and the like on the target of a rural homestead.
Measurable three-dimensional BIM is used as attribute label: marking type (according to application requirements, marking contents are customized on the measurable three-dimensional BIM, such as geographic entity type, name, ownership and the like); marking interest points (marking the interest points of the user on the measurable three-dimensional BIM through a tool); labeling information (e.g., ID, user-defined attributes (code, name, category, etc.), corresponding image, geographic location).
Claims (8)
1. A construction method of measurable BIM based on CORS unmanned aerial vehicle laser scanning and oblique photography integration is characterized by comprising the following steps:
step 1, acquiring three-dimensional lattice data of a house of a rural homestead:
step 1.1, a plurality of scanning route stations are arranged to scan an object in the air, and complete point cloud information of a target is obtained: during scanning, each scanning route station firstly carries out panoramic scanning to obtain a rough scanning map; adjusting scanning parameters on the basis of the rough scanning image to perform accurate scanning to obtain original point cloud data;
step 1.2, monitoring the geodetic coordinates of the ground position of a station by using a network GPS RTK connected with a CORS system during field operation, measuring the height of an instrument and providing an absolute positioning reference of point cloud data; if the scanning range of the scanning airline station lacks a reference control point, selecting a position with obvious characteristics as a resolving coordinate origin when the scanning airline station carries out GPS differential processing, and bringing coordinates of other points into a coordinate system determined by the point;
step 2, carrying out registration splicing and denoising simplification on the original point cloud data to obtain high-precision point cloud data:
step 2.1, registration and splicing: a plurality of stations are distributed around the measured object, and scanning of the stations is performed to obtain measured object surface measuring point coordinates based on each station; converting the cloud data of each station into a geodetic coordinate system, unifying the coordinate system, and performing three-dimensional transformation on the coordinate system; converting a scanner coordinate system SOCS into a conversion matrix of a project coordinate system PRCS, and converting the project coordinate system PRCS into a conversion matrix of a global coordinate system GLCS; performing three-dimensional transformation on the local coordinate system to obtain a three-dimensional point cloud coordinate system; searching for points with the same name and calculating the relative distance and the position included angle between each point and the station under two coordinate systems by using a network GPS RTK technology of a CORS system built in an unmanned aerial vehicle aerial survey system and coordinate data measured by all stations, and determining a transformation matrix T3DObtaining complete point cloud data of a measured object; transformation matrix T3DComprises the following steps:
in the above formula, a11～a43Each point and station under two coordinate systemsExpression parameters of relative distance and position included angle between points;
step 2.2, denoising simplification: removing noise points in the complete point cloud data of the measured object, wherein the noise points comprise drift points, isolated points, redundant points and mixed points; performing hole repairing on the point cloud data after the noise points are removed; the hole repairing is to establish a curved surface according to the positions of discrete points around the point cloud data hole and then add point data on the curved surface; reducing the distance between the point cloud data after the hole is repaired;
step 3, selecting a photo in a partition mode for high-precision point cloud data to perform texture mapping, and manufacturing a measurable three-dimensional BIM;
3.1, creating a basic geometric body to obtain a three-dimensional solid model;
3.2, creating a polygonal plane for the three-dimensional solid model;
step 3.3, texture mapping: carrying a plurality of non-measuring digital cameras by an unmanned aerial vehicle to obtain top surface and vertical surface data of a building; a network GPS RTK technology and an IMU system of a CORS system built in an unmanned aerial vehicle aerial survey system respectively provide real-time geographic position and state information; and then, carrying out aerial triangulation, integrating the point cloud data into a unified geographic coordinate system, and generating image texture data of the rural home base with the geographic coordinate system.
2. The method for constructing the measurable BIM based on the CORS unmanned aerial vehicle laser scanning and oblique photography integrated according to claim 1, wherein the step 3 comprises the following steps:
3.3.1, carrying a non-measuring digital camera in the oblique photogrammetry operation of the unmanned aerial vehicle, acquiring multi-view oblique images from a vertical angle and a plurality of oblique angles simultaneously in a regional data acquisition mode, and acquiring top surface and vertical surface data of a building as regional images;
3.3.2, acquiring real-time geographic position and state information of an aerial image control point by adopting an image control-free oblique photogrammetry technology and a network GPS RTK technology of a CORS system and an IMU system which are arranged in an unmanned aerial vehicle aerial survey system;
step 3.3.3, aerial triangulation: continuously shooting aerial photography pictures with a certain overlapping rate by utilizing the inherent geometric characteristics of aerial mapping, establishing a corresponding flight route model or area network model on the same site by using an image-control-free oblique photogrammetry technology according to an image-control-free point, and acquiring the plane coordinates and the elevation of an encrypted point;
3.3.4, after the three-dimensional solid model is established, using the real shot picture to perform deformation-free texture mapping on the three-dimensional solid model: determining the mapping relation between each real shot picture and the three-dimensional solid model in a coordinate system conversion mode, and performing deformation-free texture mapping on the three-dimensional solid model;
and 3.3.5, fusing the three-dimensional dot matrix data of the house of the rural homestead and the image texture data in the step 1 to generate measurable three-dimensional BIM.
3. The CORS-based unmanned aerial vehicle laser scanning and oblique photography integrated measurable BIM construction method according to claim 1, wherein in the step 2.1, when registration splicing is carried out:
for characteristic point cloud registration, selecting characteristic information from point cloud data of different sites, and solving transformation parameters to obtain a conversion relation of two groups of point cloud data;
for the registration of the point cloud without the characteristics, a man-machine interaction mode is adopted, and common points with obvious characteristics are manually specified in the adjacent point cloud data to serve as iterative initial values of computer software operation.
4. The method for constructing the measurable BIM based on the CORS unmanned aerial vehicle laser scanning and oblique photography integration of claim 1, wherein: and 2.1, when the homonym point is determined in the step 2.1, firstly, calculating a rotation matrix R and a translation distance T.
5. The method of claim 2 for constructing a measurable BIM integrated with laser scanning and oblique photography of a CORS-based UAV, wherein: 3.3.1, when the unmanned aerial vehicle oblique photogrammetry works to plan the flight path, the effective image range is larger than the mapping range, and the overlapping rate of the film in the area and the side overlapping rate of the flight path between the areas meet the requirement of space-three encryption calculation; the flight height and the image resolution of the unmanned aerial vehicle are adapted to the proportion scale of the image; the image color saturation is moderate, and no shadow or halo exists; the shadow area of a single image is less than or equal to 1/3 of the total area of the image.
6. The method of claim 2 for constructing a measurable BIM integrated with laser scanning and oblique photography of a CORS-based UAV, wherein: 3.3.3 hollow medium triangulation the geodetic coordinates of the encrypted points are obtained by relative orientation, automatic image matching and absolute orientation:
relative orientation: automatically extracting the image coordinates of the homonymous orientation points of two adjacent aerial photographs by means of an image matching technology, unifying the coordinate systems of the other aerial photographs with the same aerial photograph by taking the first matched aerial photograph coordinate system in the area as a reference, and simultaneously carrying out adjustment calculation on the matching result to remove points with low matching precision; then all the orientation points with the same name as the next flight band in the first flight band are used as control points, the relative orientation is carried out on the next flight band, the adjustment calculation is carried out simultaneously, and the images in the next flight band are unified into the coordinate system of the previous flight band;
automatic image matching: unifying all aerial photography films into a relative coordinate system, automatically extracting all connection points of the aerial photography films in the area through a multi-view image matching technology, and outputting area orientation point cloud data;
absolute orientation: constructing a three-dimensional model similar to the ground, converting the three-dimensional model from photogrammetric coordinates to ground measurement coordinates by taking a known point measured on the ground as a control point, and recovering absolute coordinates of the model relative to the ground; and (3) adopting the connection points in the relative orientation as control points to complete the conversion from the relative coordinate system of the area to the absolute coordinate system, wherein the conversion principle is the same as that of the three-dimensional point cloud coordinate system, and obtaining the encrypted point coordinates of each photo.
7. The method for constructing the measurable BIM based on the CORS unmanned aerial vehicle laser scanning and oblique photography integration of claim 2, wherein in the step 3.3.4, the Open GL technology is adopted to perform texture mapping on the multi-view oblique image: firstly, an Open GL display environment is constructed, and then a model file in an obj format and an image file in a jpg format are read by utilizing Open GL; and then, carrying out three-dimensional model reconstruction on the model file in the obj format, selecting the optimal texture from the image file in the jpg format to obtain texture coordinates with the optimized texture, and binding and mapping the texture coordinates by utilizing Open GL.
8. A measurable BIM measuring method for a rural homestead based on unmanned aerial vehicle laser scanning and oblique photography integration of CORS is characterized by comprising the following steps:
step 1, cadastral survey is conducted indoors based on measurable three-dimensional BIM: collecting coordinate data of boundary points, collecting elevation points, and surveying and mapping features, landforms, ditches, sills and building feature points in each household residential quarter on a measurable three-dimensional BIM by the industry;
step 2, acquiring data indoors based on measurable three-dimensional BIM;
step 3, using measurable three-dimensional BIM to perform visual browsing:
step 3.1, fixed path browsing: browsing the three-dimensional real scene of the geographic entity from any angle according to the fixed path;
step 3.2, browsing the active path: browsing the three-dimensional real scene of the geographic entity from any angle according to the mouse path;
step 4, using measurable three-dimensional BIM as a survey base map;
step 4.1, when filling in the registration form, letting the householder identify the position and the boundary position of the householder, recording the boundary of the householder with a pen, filling in the name of the householder and the names of the left and right neighbors, and identifying the boundaries between the left and right neighbors and the house; filling all data information in the registration form at one time to complete the boundary investigation of the ownership;
step 4.2, after the registration form filling is finished, carrying out boundary point spray painting on the site with measurable three-dimensional BIM confirmed by the right boundary; aiming at the position of the dispute address point, coordinating with related personnel to perform dispute address point identification and spray painting, and marking the dispute address point on the DMI;
step 5, using measurable three-dimensional BIM to inquire attribute information;
and 6, using measurable three-dimensional BIM to label attributes: customizing marking content on the measurable three-dimensional BIM; marking the user on the measurable three-dimensional BIM through a tool; marking ID, marking user-defined attributes, marking corresponding images and marking geographic positions.
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