CN112526483A - Three-dimensional laser scanning device integrating spatial positioning and orienting method thereof - Google Patents
Three-dimensional laser scanning device integrating spatial positioning and orienting method thereof Download PDFInfo
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- CN112526483A CN112526483A CN202011422874.8A CN202011422874A CN112526483A CN 112526483 A CN112526483 A CN 112526483A CN 202011422874 A CN202011422874 A CN 202011422874A CN 112526483 A CN112526483 A CN 112526483A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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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
Abstract
The invention relates to a three-dimensional laser scanning device integrating space positioning and a positioning and orienting method thereof, wherein the three-dimensional laser scanning device comprises a support, a lifting rod supported by the support, a three-dimensional laser scanner, a satellite positioning device and a support base, the support base is connected with the support, one end of the lifting rod, close to the support base, is connected with the three-dimensional laser scanner, the other end of the lifting rod is connected with the satellite positioning device, the three-dimensional laser scanner and the satellite positioning device are both provided with wireless transmission modules, and the three-dimensional laser scanning device adopts an RTK positioning technology for positioning and adopts a short baseline positioning technology for orienting. Compared with the prior art, when the three-dimensional laser scanning device is used, an operator hardly needs to go down a well, only needs to place the three-dimensional laser scanner below a well neck, and the three-dimensional laser scanning device has the advantages of high acquisition efficiency, high data acquisition precision, high equipment stability and reliability and the like.
Description
Technical Field
The invention relates to the field of underground cable work wells, in particular to a three-dimensional laser scanning device integrating space positioning and a positioning and orienting method thereof.
Background
With the continuous development and progress of science and technology, two-dimensional graph and image data cannot meet the requirements of people on daily production and life, a three-dimensional visualization technology is continuously developed, related supporting equipment is gradually improved, the real situation can be more visually, conveniently and accurately displayed by using the three-dimensional visualization technology, the application field of the three-dimensional visualization technology is wider and wider, and therefore the requirement of various industries on three-dimensional data acquisition is more and more prominent in society. In an electric power system, how to efficiently and accurately acquire three-dimensional data of a target and provide accurate traceable data for operation and maintenance maintainers by using a three-dimensional visualization technology has been a research hotspot in related fields all the time.
Because the underground cable work well has dark light, narrow space and severe environment, even if personnel go into the well, the condition inside the work well is difficult to be completely mastered, the traditional method for acquiring the data of the work well has low efficiency and low accuracy of the acquired data, and the achievement of finally acquiring the three-dimensional data is not ideal.
The inside condition of cable worker well is looked over through panoramic image, can accomplish to the structure surveyability of worker well inside, not only can audio-visually look over the in service behavior of section tube hole, can also clear up the threading condition of cable inside the worker well, but because the inside light of worker well is darker, clear panoramic image is difficult to obtain to conventional mode of shooing.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a three-dimensional laser scanning device which can obtain a clear panoramic image in a cable working well and improve the efficiency and the precision of data acquisition and integrates space positioning and a positioning and orienting method thereof.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides a fuse space location's three-dimensional laser scanning equipment, three-dimensional laser scanning equipment includes the support, receives lifter, three-dimensional laser scanner, the directional positioner of satellite and support base that the support supported, the support base is connected the support, the lifter is close to the one end of support base is connected three-dimensional laser scanner, the other end is connected satellite directional positioner, three-dimensional laser scanner and the directional positioner of satellite all are equipped with wireless transmission module for connect the mobile device, transmit the detected data, the lifter is marked with the scale.
Furthermore, the satellite orientation positioning device comprises a GNSS positioning orientation module and two satellite receiving antennas, wherein the two satellite receiving antennas are connected with the GNSS positioning orientation module, and the satellite receiving antennas and the GNSS positioning orientation module are connected with the lifting rod.
Furthermore, the three-dimensional laser scanning equipment also comprises an orientation point position identification rod, the orientation point position identification rod is connected with the lifting rod, and the orientation point position identification rod is respectively connected with the satellite positioning antenna and the laser point cloud scanner, so that the angles of the orientation point position identification rod, the satellite positioning antenna and the laser point cloud scanner are kept consistent.
Further, the three-dimensional laser scanning device further comprises an auxiliary positioning device, and the auxiliary positioning device comprises a laser emitter.
Further, the three-dimensional laser scanning device further comprises a device status indicator, the device status indicator is connected with the GNSS positioning and orientation module, and the device status indicator is used for displaying basic information, and the basic information comprises a power supply status, a battery level, a device operation status, an RTK operation status and a 4G base station operation status.
Further, the three-dimensional laser scanner is a phase type three-dimensional laser scanner.
The invention also provides a positioning and orientation method adopting the three-dimensional laser scanning equipment, which adopts an RTK positioning technology for positioning and adopts a short baseline orientation technology for orientation.
Further, the RTK positioning technique includes the steps of:
satellite positioning: obtaining the distances between the current position of the three-dimensional laser scanning equipment and at least four satellites and the satellite positioning time, and solving the position of the current position under a terrestrial coordinate system; calculating the current position according to a plurality of satellite positioning systems, and performing error analysis to obtain the accuracy of the current position data;
a difference calculation step: and positioning a preset fixed base station through a satellite positioning system to obtain a positioning deviation, and correcting a positioning result of the three-dimensional laser scanning equipment according to the positioning deviation.
Further, the short baseline orientation technology specifically includes acquiring carrier phase, pseudorange, doppler and ephemeris data of a current epoch, performing gross error check and elimination on the acquired data by adopting a pseudorange differential technology, establishing a GPS double-difference observation fuzzy and stochastic model, solving a ambiguity floating solution by using a least square method, searching a plurality of ambiguity alternative solutions by using an lamb da method, optimizing correct ambiguities from the alternative ambiguities by using an accumulative RMS algorithm, improving the ambiguity search efficiency by using an ambiguity bridging technology, and obtaining correct ambiguities, thereby solving and calculating a transverse angle and a longitudinal angle between two satellite receiving antennas.
The invention also provides another positioning and orienting method adopting the three-dimensional laser scanning equipment, which adopts the laser emitter to mark the special point position of the scanned area and adopts the total station to position and orient the scanning data of the three-dimensional laser scanner.
Compared with the prior art, the invention has the following advantages:
(1) the three-dimensional laser scanning equipment is provided with the three-dimensional laser scanner and the satellite directional positioning device, the three-dimensional laser scanning technology is adopted, and the geographic coordinate positioning technology is integrated to realize the rapid scanning of the panoramic image and the point cloud data inside the working well, when the equipment is used, an operator almost does not need to go into the well, and only needs to put the three-dimensional laser scanner below the well neck, the acquisition of the all-element information of the working well can be rapidly and accurately finished, and the acquisition efficiency of the operator on the working well data is improved.
(2) According to the method, data of the central position of the scanner are acquired by using an RTK positioning technology, the orientation of the point cloud is registered by the orientation instrument, if the position accuracy of the acquired data cannot meet the requirement due to weak satellite positioning signals, a reference position point can be provided, then the point cloud data is positioned and oriented by the total station, the positioning accuracy can reach centimeter level, the accuracy of the acquired data is ensured, and the reliability and the usability of the acquired data are improved.
(3) The invention is provided with the orientation point position marking rod corresponding to the satellite positioning antenna and the laser point cloud scanner on the lifting rod, and can ensure that the precision of the orientation point position reaches centimeter level.
(4) The pulley is arranged in the bracket base, so that the movement and adjustment of equipment are facilitated, and the working efficiency of data acquisition is improved.
(5) According to the invention, the extension rod is arranged on the lifting rod in a matching manner, so that various requirements in the process of collecting the working well can be met.
(6) Gears are arranged in the lifting rod and the extension rod, so that the device can be prevented from falling to cause loss due to misoperation; the support is provided with the bolt self-locking device, so that the lifting rod can be prevented from falling, the three-dimensional laser scanner can be conveniently kept for a long time, and the stability and the reliability of the three-dimensional laser scanning equipment are improved.
Drawings
FIG. 1 is a schematic diagram of a hardware structure of a three-dimensional laser scanning device with spatial localization integrated according to the present invention;
fig. 2 is a schematic overall structure diagram of the three-dimensional laser scanning device with spatial localization integrated according to the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
Example 1
As shown in fig. 1 and fig. 2, according to the characteristics of cable work well data acquisition, in order to achieve the high efficiency and safety of data acquisition, the acquisition device requires portability and convenient use, the present embodiment provides a three-dimensional laser scanning device integrating with space positioning, which comprises a support 1, a lifting rod 3 supported by the support, a three-dimensional laser scanner 6, a satellite directional positioning device and a support base 2, the support base is connected with the support, one end of the lifting rod close to the support base is connected with the three-dimensional laser scanner, and the other end is connected with the satellite directional positioning device.
The following describes the components in detail:
1. support frame
In order to conveniently carry and store the equipment in the acquisition process, the three-dimensional laser scanning equipment adopts a modularized design, and each equipment component can be disassembled for storage and is assembled by self during use. The support of the three-dimensional laser scanning device is a triangular lifting support, the portable and movable design is adopted, the detachable universal wheels are used as the support base, and the usability, portability and safety of the device in the working well collecting process are met.
2. Lifting rod
The equipment support is furnished with portable lifter and extension rod 4 that mark scale, and acquiescence pole length is 1 meter, according to the field data acquisition condition, uses acquiescence lifter collocation extension rod to use, can satisfy all kinds of demands that appear among the worker's well collection process. Lifter and extension rod all contain the gear, can prevent that the maloperation from leading to falling of equipment and causing the loss, all support manual and semi-automatic mode to go up and down, the position of accessible lifter 5 convenient control lifter. The lifting rod operating equipment is a screwdriver or an electric screwdriver.
3. Three-dimensional laser scanner
Three-dimensional laser point cloud scanner (three-dimensional laser scanner) is fixed in the below of lifter through dedicated fixed buckle, and the accessible lifter controls the position of laser scanner in the worker's well, conveniently adjusts according to the different well depths of worker's well. Be equipped with bolt self-lock device on the support, prevent that the lifter that causes because of the accident from falling, be convenient for three-dimensional laser scanner long-time height-keeping simultaneously.
4. Satellite directional positioning device
The satellite orientation positioning device comprises a GNSS positioning orientation module and two centimeter-level satellite receiving antennas 7, and the signals of satellite data are obtained in an enhanced mode. The lifting rod is also provided with a directional point position identification rod corresponding to the satellite antenna, so that the precision of the position of the directional point can reach centimeter level. The module supports RTK location and 4G base station location, is equipped with equipment status indicator 8 on the module, and this equipment status indicator 8 provides basic information display through the status light, if: power state, battery level, equipment running state, RTK running state, 4G base station running state, etc. Besides the GNSS positioning and orienting module, the top of the three-dimensional laser scanning equipment is also specially provided with an auxiliary positioning device, so that the three-dimensional laser scanning equipment can be conveniently used when satellite signals cannot be received or the received satellite position data cannot meet the precision requirement, special point position marking is carried out in a scanned area by a manual dotting method, and a total station acquisition method is used to ensure the real and reliable acquired data. The GNSS positioning and orientation module comprises an orientation meter.
5. Auxiliary positioning device 10
The three-dimensional laser scanning equipment is also specially provided with an auxiliary positioning device, so that the auxiliary positioning device can be conveniently used when satellite signals cannot be received or the received satellite position data cannot meet the precision requirement, the auxiliary positioning device comprises a laser transmitter arranged at the top of the three-dimensional laser scanning equipment, special point position marking is carried out by equipment dotting and matching with the laser transmitter, and the method of collecting by using a total station is used, so that the real and reliable collected data is ensured.
The following describes the device type selection, positioning and orientation method, device software and device advantages of the three-dimensional laser scanning device of the present embodiment:
model selection of one-dimensional and three-dimensional laser scanners
The model selection of the three-dimensional laser scanner is considered from the following points:
1) and (3) data precision of three-dimensional laser point cloud scanning.
2) Scanning range of the three-dimensional laser scanner.
3) Speed of three-dimensional laser scanner scanning.
The existing three-dimensional laser scanners are mainly divided into two types, namely pulse type and phase type, the pulse type scanning distance is long but the precision is poor, the three-dimensional laser scanners are suitable for topographic mapping, the phase type scanning distance is relatively short but the obtained data precision is high, and the three-dimensional laser scanners are suitable for scanning buildings and equipment.
According to the requirement of cable pipeline data scanning, the scanning distance to the worker well is close, the required data precision is higher, the scanning accessible to the cable tunnel sets up a plurality of acquisition points and scans, and the registration of data, concatenation of will scanning obtain complete data, choose for use the three-dimensional laser scanner of phase type for the collection of worker well data comparatively to be fit for. The FARO FocusM 70 is selected by the three-dimensional laser scanning equipment, the equipment can provide IP54 dustproof water protection, HDR imaging, high-speed acquisition speed of 5 ten thousand points/second and a larger working temperature range, the scanning range can reach 70 meters, the precision can reach +/-3mm, a third-party software package can be used for customizing proper working process software, and the requirements on the precision and the speed of working well data acquisition in the using process are met.
Second, positioning and orientation method
According to the data acquisition standard requirement of the cable working well, a CGCS2000 coordinate system is adopted for an acquired data plane coordinate system, a 1985 national elevation standard is adopted for an elevation standard, the dimensional accuracy requirement of facility parts such as pipe holes and supports in the well is less than 5cm, the accuracy requirement of a plane position is less than or equal to 15cm, the elevation accuracy is less than or equal to 10cm, and the attribute information is standard and complete.
According to the requirement of data acquisition specifications, the positioning accuracy of the traditional GPS is poor, and the positioning error of the civil GPS can reach more than ten meters, and the errors are mostly caused by clock error of satellites and refraction multipath effect of atmosphere on electromagnetic waves. Although the data acquisition suite equipment adopts the GNSS (global navigation satellite system (GPS), global navigation satellite system (GLONASS), BDS and the like) satellite positioning technology, the error requirement of data acquisition cannot be met only by the satellite positioning technology, and the data acquisition suite equipment integrates the RTK positioning technology and the short baseline orientation technology to meet the requirement of data acquisition specification.
The RTK positioning technology is divided into two main points: satellite positioning and differential techniques.
Satellite positioning measures at least the distance between the current position and 4 satellites and the corresponding time, and then solves the position [ x, y, z ] of the current position in the terrestrial coordinate system through an equation. In order to ensure the accuracy of the data, the device calculates the coordinates of the current position through the GPS, the GLONASS and the BDS, respectively, and then performs error analysis according to the number of connected satellites and various positioning technologies to obtain the accuracy of the position data.
The difference technology is to calculate the error of the data acquired by the above mentioned various GPS, to obtain the deviation of the positioning signal by installing the fixed base station on the reference point with known absolute position and comparing it with the positioning result of the fixed base station by the GPS, and then to send the deviation to the acquisition suit equipment which needs to be positioned, so as to obtain the relatively accurate position signal of the acquisition point. After the calculation by the method, the positioning precision can reach centimeter level, and the standard requirement of data acquisition is met.
The short baseline orientation technology used in this embodiment adopts a high-precision real-time dynamic orientation algorithm based on GPS, performs gross error check and elimination by using pseudo-range differential technology, establishes a GPS double-difference observation fuzzy and stochastic model, solves a ambiguity floating solution by using a least square method, searches a certain number of ambiguity alternative solutions by using an LAMBDA method, optimizes correct ambiguities from the alternative ambiguities by using an accumulative RMS algorithm, improves the ambiguity search efficiency by using an ambiguity bridging technology, and after obtaining correct ambiguities, calculates the transverse and longitudinal angles between antennas by using the baseline solution. The direction of the geographical position of the equipment can be accurately obtained through a short baseline orientation technology.
Third, device software
The laser point cloud equipment manufacturer provides data acquisition and processing software for partial point clouds, but the software provided by the manufacturer can not meet the requirements on the accuracy and the high efficiency of acquisition, and in order to ensure the accuracy and the high efficiency of data acquisition of the set equipment, the software optimization processing is also carried out on the set equipment. The invention integrates RTK positioning service on the basis of the laser point cloud equipment SDK, provides mobile terminal software for data acquisition, and is convenient for controlling the data acquisition and checking the data acquisition quality. Through the integration of software, the human intervention in the acquisition process can be reduced, and the accuracy and the high efficiency of the acquired data are ensured.
1) RTK positioning service
The RTK works by placing one receiver on the reference station and one or more receivers on the carrier (called the rover station), and comparing the observed values obtained by the reference station lock with the known position information to obtain the GPS differential corrections. This correction is then passed to the rover station to refine its GPS observations to obtain a differentially corrected real-time position of the rover station with greater accuracy. The difference is divided into three categories, namely pseudo difference, coordinate difference and carrier phase difference according to types. The RTK positioning service in the invention adopts a carrier phase differential technology, and compared with the former two positioning errors, the correlation of the positioning errors does not rapidly decrease along with the increase of the space distance between the base station and the rover station.
In the invention, a network RTK technology is integrated in an RTK software technology, the network RTK technology is a multi-base-station technology, and joint data of a plurality of reference stations are used for data processing. By the RTK processing technology, in the field data acquisition process, a reference station does not need to be erected, the operation cost in the acquisition process is reduced, the acquisition efficiency is improved, the operation radius is enlarged, and equal accuracy can be obtained in the network coverage range.
2) Data acquisition mobile terminal software
In order to conveniently control the acquisition equipment and check the quality of the acquired data in real time, a software client matched with the set equipment is researched and developed in the invention. The mobile phone end can be used for conveniently configuring relevant parameters of the laser scanner equipment, controlling the scanner equipment to scan and checking the collected point cloud image map. The precision of the position of the equipment can be checked in the mobile terminal, whether the position data needs to be collected again by the total station is judged according to the precision of the collected data, the working well needing to collect the position again needs to be marked on the ground by using an auxiliary positioning tool, and the positioning and orientation accuracy during the collection of the total station is ensured.
Fourth, the advantages of the device
The key points of the data acquisition of the underground cable work well are that the accuracy of data acquisition is improved, the complexity of the use of acquisition equipment is reduced, and the efficiency of data acquisition is improved.
The accuracy of the data is an important index for considering the data acquisition result, and also determines the reliability and the usability of the acquired data. In order to ensure the accuracy of the acquired data, the three-dimensional laser scanning device integrating spatial positioning in the embodiment acquires point cloud data of a real scene in a working well by using a three-dimensional laser scanning technology, acquires data of a central position of a scanner by using an RTK positioning technology, performs orientation registration on point cloud by using a direction finder, can provide a reference position point if the position accuracy of the acquired data cannot meet the requirement due to weak satellite positioning signals, and then performs positioning and orientation on the point cloud data by using a total station.
The other key point in the data acquisition process is to improve the acquisition efficiency of the working well data and the safety of the acquisition process, and the traditional acquisition mode has defects in both the acquisition efficiency and the safety. The three-dimensional laser scanning equipment provided by the embodiment adopts a mode of manual-free well descending, and can scan live-action point cloud data in the working well only by placing a three-dimensional laser scanner in the three-dimensional laser scanning equipment below a well neck. Meanwhile, the three-dimensional laser scanning equipment is provided with the equipment support and the pulley, so that the equipment is convenient to move and adjust, and the working efficiency of data acquisition is improved.
The actual data acquisition is measured, the three-dimensional laser scanning equipment is used for acquiring the data of the working well equipment, the manual-operation-free well descending operation mode is adopted, the single working well data acquisition time is about 5-10 minutes, the data accuracy of all acquired data is within 5cm, and the requirements of high efficiency, safety and data accuracy on the working well acquisition in a power system are completely met.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. The utility model provides a fuse three-dimensional laser scanning equipment of space location which characterized in that, three-dimensional laser scanning equipment includes the support, receives lifter, three-dimensional laser scanner, the directional positioner of satellite and support base that the support supported, the support base is connected the support, the lifter is close to the one end of support base is connected three-dimensional laser scanner, the other end is connected the directional positioner of satellite, three-dimensional laser scanner and the directional positioner of satellite all are equipped with wireless transmission module.
2. The three-dimensional laser scanning device with fusion space positioning as claimed in claim 1, wherein the satellite positioning and positioning device includes a GNSS positioning and positioning module and two satellite receiving antennas, both of the two satellite receiving antennas are connected to the GNSS positioning and positioning module, both of the satellite receiving antennas and the GNSS positioning and positioning module are connected to the lifting rod.
3. The three-dimensional laser scanning device fused with space orientation as claimed in claim 2, further comprising an orientation point position identification rod connected to the lifting rod, wherein the orientation point position identification rod is respectively connected to the satellite positioning antenna and the laser point cloud scanner, so that the angles of the orientation point position identification rod, the satellite positioning antenna and the laser point cloud scanner are kept consistent.
4. The three-dimensional laser scanning device with fusion space positioning as claimed in claim 2, characterized in that the three-dimensional laser scanning device further comprises an auxiliary positioning device, and the auxiliary positioning device comprises a laser emitter.
5. The three-dimensional laser scanning device with fusion space positioning as claimed in claim 1, further comprising a device status indicator connected to the GNSS positioning and orientation module, wherein the device status indicator is used to display basic information, and the basic information includes power status, battery level, device operation status, RTK operation status and 4G base station operation status.
6. The fused spatial localization three-dimensional laser scanning device according to claim 1, wherein the three-dimensional laser scanner is a phase three-dimensional laser scanner.
7. A positioning and orientation method using the three-dimensional laser scanning apparatus according to claim 2, wherein the positioning is performed using an RTK positioning technique and the orientation is performed using a short baseline orientation technique.
8. The method of claim 7, wherein the RTK positioning technique comprises the steps of:
satellite positioning: obtaining the distances between the current position of the three-dimensional laser scanning equipment and at least four satellites and the satellite positioning time, and solving the position of the current position under a terrestrial coordinate system; calculating the current position according to a plurality of satellite positioning systems, and performing error analysis to obtain the accuracy of the current position data;
a difference calculation step: and positioning a preset fixed base station through a satellite positioning system to obtain a positioning deviation, and correcting a positioning result of the three-dimensional laser scanning equipment according to the positioning deviation.
9. The method according to claim 7, wherein the short baseline orientation technique is specifically to obtain carrier phase, pseudorange, doppler, and ephemeris data of a current epoch, perform gross error check and elimination on the obtained data by using a pseudorange differential technique, establish a GPS double-difference observation ambiguity and stochastic model, solve an ambiguity floating solution by using a least square method, search out a plurality of ambiguity alternative solutions by using an lambbda method, select correct ambiguities from the alternative ambiguities by using an accumulative RMS algorithm, improve ambiguity search efficiency by using an ambiguity bridging technique, obtain correct ambiguities, and thus solve a lateral and longitudinal angle between two satellite receiving antennas.
10. A positioning and orientation method using the three-dimensional laser scanning device as claimed in claim 4, wherein the laser emitter is used to mark a specific point position on the scanned area, and the total station is used to position and orient the scanning data of the three-dimensional laser scanner.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113063365A (en) * | 2021-03-30 | 2021-07-02 | 西安工业大学 | Equivalent target plate deformation testing device and testing method based on laser scanning |
| CN113138395A (en) * | 2021-04-25 | 2021-07-20 | 南京鹏畅科技实业有限公司 | Point cloud map construction method based on laser radar data fusion of total station |
-
2020
- 2020-12-08 CN CN202011422874.8A patent/CN112526483A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113063365A (en) * | 2021-03-30 | 2021-07-02 | 西安工业大学 | Equivalent target plate deformation testing device and testing method based on laser scanning |
| CN113138395A (en) * | 2021-04-25 | 2021-07-20 | 南京鹏畅科技实业有限公司 | Point cloud map construction method based on laser radar data fusion of total station |
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