CN112558102B - Airborne oblique laser three-dimensional measurement and composite imaging system and application method thereof - Google Patents
Airborne oblique laser three-dimensional measurement and composite imaging system and application method thereof Download PDFInfo
- Publication number
- CN112558102B CN112558102B CN202011260488.3A CN202011260488A CN112558102B CN 112558102 B CN112558102 B CN 112558102B CN 202011260488 A CN202011260488 A CN 202011260488A CN 112558102 B CN112558102 B CN 112558102B
- Authority
- CN
- China
- Prior art keywords
- laser
- subsystem
- visible light
- dimensional
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- 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
-
- 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
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Automation & Control Theory (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides an airborne oblique laser three-dimensional measurement and composite imaging system and a use method thereof. The multi-beam laser radar and the visible light camera synchronously observe the ground target by adopting a mode that the multi-beam laser radar, the visible light camera and the scanning mechanism work cooperatively under the synchronization of second pulse output by the GNSS/IMU integrated navigation unit, so that the problem of whole-day inclination/vertical high-resolution imaging three-dimensional measurement of the target area under the airborne platform is solved; the architecture of the array single photon detector is adopted for beam splitting by adopting the diffraction element, array optical fiber receiving, and the one-dimensional scanning mechanism and platform movement are combined, so that the ground resolution and imaging efficiency are considered while the radar acting distance and the measuring precision are ensured.
Description
Technical Field
The invention relates to the technical field of general image data processing or generation, in particular to an airborne oblique laser three-dimensional measurement and composite imaging system and a use method thereof.
Background
The basic geographic information is one of information resources with the largest data volume, the widest coverage and the widest application range in China, is an important basis for national economy and social informatization, and is also an information guarantee for guiding military operations and exerting the fight efficacy of weaponry. Can be applied to a plurality of fields such as military reconnaissance, battlefield environmental monitoring, national security, national economy, social development and the like. How to obtain the basic geographic information data of the target area in a large range, high resolution, high precision and fast is an important strategic research direction of various countries.
The three-dimensional imaging laser radar is used as an emerging three-dimensional data acquisition means, can quickly acquire topographic surface data, ground feature and the like, is a high-precision, high-density and high-efficiency active measurement technology, obtains distance information by measuring the flight time of light pulses or modulated light signals to and from a radar and a target, and obtains azimuth information in a plane vertical to the direction of a light beam by scanning or multi-point detection. The three-dimensional imaging laser radar can be divided into a scanning imaging system and an area array imaging system according to an imaging system. The scanning imaging system realizes single-point distance acquisition through a single beam and a corresponding detection unit, and in order to realize large-area three-dimensional imaging, a two-dimensional scanning mechanism or a scanning mechanism combining one-dimensional scanning with platform push scanning is needed to enable laser spots to form a dense lattice on the surface of a target area, so that a three-dimensional image of the target area is acquired. And the planar array imaging system is used for carrying out floodlight irradiation or multi-beam splitting irradiation on the target through laser at a laser emitting end, detecting echo photons diffusely reflected at different positions on the surface of the target by utilizing a planar array detector, measuring the flight time of echo light signals detected by each detection array element, and carrying out post-processing to obtain a three-dimensional image of the target. With the development of multi-beam spectroscopic technology and single photon array detection technology, a foundation is laid for the development of the three-dimensional imaging laser radar to compact, solid-state and high frame frequency directions, and meanwhile, a technical route of micro-pulse high-repetition frequency laser emission, optical array receiving and single photon array detection of a new generation of three-dimensional imaging laser radar system is established. The laser radar featuring integrated optical system technology is characterized in that the digitization, integration and chip of the transceiver optical system array, signal detection, processing and transmission are the main characteristics. Compared with the traditional scanning system laser three-dimensional imaging method, the method can meet the imaging detection application requirements of higher imaging resolution, higher positioning precision and higher efficiency under a long distance. The three-dimensional imaging laser radar technology also has some defects, such as very limited contour capability of ground objects, low density resolution of imaging points and the like.
The oblique photogrammetry technology utilizes an imaging photographic device to simultaneously and rapidly acquire an oblique image and an orthographic image, then utilizes a computer automatic graphic processing technology to perform automatic air-to-three processing, and furthest truly restores a ground surface true scene through image matching and surface texture mapping technology means, but has the problem of poor elevation measurement precision.
The three-dimensional laser scanning and the oblique photogrammetry technology have respective advantages and disadvantages, combine two technical means, mutually make up for the defects, rapidly and comprehensively acquire high-precision and high-density stereoscopic imaging, and obviously reflect the surface change of the topography.
Disclosure of Invention
The invention provides an airborne oblique laser three-dimensional measurement and composite imaging system and a use method thereof, which aim to solve the problem that three-dimensional information is difficult to obtain at high resolution, high precision and high efficiency, and realize synchronous observation of the multi-beam laser radar and the visible light camera on a ground target by adopting a mode that the multi-beam laser radar, the visible light camera and a scanning mechanism work cooperatively under the second pulse synchronization output by a GNSS/IMU integrated navigation unit, thereby solving the problem of full-day oblique/vertical high-resolution imaging three-dimensional measurement of a target area under an airborne platform; the architecture of the array single photon detector is adopted for beam splitting by adopting the diffraction element, array optical fiber receiving, and the one-dimensional scanning mechanism and platform movement are combined, so that the ground resolution and imaging efficiency are considered while the radar acting distance and the measuring precision are ensured.
The invention provides an airborne oblique laser three-dimensional measurement and composite imaging system, which comprises a servo scanning subsystem arranged on a flight platform, a multi-beam laser radar subsystem and a visible light camera which are respectively arranged on the servo scanning subsystem, and a GNSS/IMU integrated navigation unit connected with the servo scanning subsystem;
the servo scanning subsystem is used for realizing one-dimensional small-angle rapid swabbing by taking any pitch angle in the vertical direction of flight of the flight platform as a center, the multi-beam laser radar subsystem is used for driving the servo scanning subsystem and realizing continuous measurement along the track direction so as to acquire, store and output photoelectron point cloud data of a target area, and the visible light camera is used for realizing cooperative measurement with the multi-beam laser radar subsystem by utilizing the motion of the servo scanning subsystem and acquiring and outputting visible light image information of the target area; the GNSS/IMU integrated navigation unit is used for acquiring the pointing angle of the servo scanning subsystem and the geographic coordinate information output of the flight platform, and the photoelectron point cloud data, the visible light image, the pointing angle and the geographic coordinate information are used for being fused into a three-dimensional stereoscopic image of the target area.
The invention relates to an airborne oblique laser three-dimensional measurement and composite imaging system, which is characterized in that a servo scanning subsystem comprises a first scanning mechanism, a second scanning mechanism and a mechanism driving control unit electrically connected with the first scanning mechanism and the second scanning mechanism, a multi-beam laser radar subsystem is arranged on the first scanning mechanism, a visible light camera is arranged on the second scanning mechanism, the mechanism driving control unit is electrically connected with the multi-beam laser radar subsystem, and a GNSS/IMU integrated navigation unit is integrally and rigidly connected with a fixed part of the first scanning mechanism and a fixed part of the second scanning mechanism.
The invention relates to an airborne oblique laser three-dimensional measurement and composite imaging system, which is characterized in that as a preferable mode, a multi-beam laser radar subsystem comprises a multi-beam laser radar, wherein the multi-beam laser radar comprises a single-wavelength laser and a laser beam splitter which are sequentially arranged, a receiving telescope, a receiving optical unit, an array single-photon detector and a comprehensive management and data processing unit which are electrically connected with the single-wavelength laser and the array single-photon detector;
the single-wavelength laser is used for emitting laser pulses, the laser beam splitter is used for receiving the laser pulses and splitting the laser pulses into multiple beams to be emitted to a target area, the receiving telescope is used for receiving the multiple beams scattered by the target area and outputting the multiple beams, the receiving optical unit is used for optically coupling, splitting, collimating and filtering the multiple beams output by the receiving telescope and converting the multiple beams into scattered light and echo light signals of emitted light signals to be converged on corresponding pixels of the array single-photon detector, and the array single-photon detector is used for receiving the scattered light and echo light signals of the emitted light signals to perform photoelectric conversion and outputting emitted signal electric pulses and echo signal electric pulses to the integrated management and data processing unit; the comprehensive management and data processing unit is used for controlling the single-wavelength laser to emit laser pulses, and the comprehensive management and data processing unit is used for measuring and storing time differences between the multi-channel emission signal electric pulses and the echo signal electric pulses, wherein the time differences are photoelectron point cloud data;
the integrated management and data processing unit is electrically connected with the mechanism driving control unit and is used for controlling the mechanism driving control unit.
The invention relates to an airborne oblique laser three-dimensional measurement and composite imaging system, which is characterized in that a laser beam splitter comprises a beam expander for compressing the divergence angle of laser pulses and a diffraction beam splitter for splitting laser beams in multiple lines so as to enable the laser beams to emit at equal interval angles.
The invention relates to an airborne oblique laser three-dimensional measurement and composite imaging system, which is characterized in that as a preferable mode, a receiving optical unit comprises an array coupling optical fiber and a double telecentric lens, wherein the array coupling optical fiber is used for coupling and outputting echo optical signals of different wave beams to the double telecentric lens, and the double telecentric lens receives the echo optical signals output by the array coupling optical fiber and converges the echo optical signals of different optical fiber channels on a photosensitive surface corresponding to an array single photon detector after collimation and narrow-band filtering;
the array coupling optical fibers are fixed by using V-shaped grooves, the optical fibers at the focal plane end of the receiving telescope are distributed in 16X 4 multiple lines, and the beams are split into 4 beams; the front ends of the double telecentric lenses are arranged in a 4 multiplied by 4 matrix;
the array single photon detector is an avalanche photodiode array, and photosensitive surface pixels are arranged in a multi-channel rectangular mode.
The invention relates to an airborne oblique laser three-dimensional measurement and composite imaging system, which is characterized in that an optimal mode is that a comprehensive management and data processing unit comprises carry chain resources in an FPGA.
According to the airborne oblique laser three-dimensional measurement and composite imaging system, as a preferable mode, the multi-beam laser radar subsystem performs laser pulse emission according to a fixed time sequence under the synchronization of second pulses output by the GNSS/IMU integrated navigation unit;
and the visible light imaging camera performs visible light exposure according to a fixed time sequence under the synchronization of second pulses output by the GNSS/IMU integrated navigation unit.
The invention provides a using method of an airborne oblique laser three-dimensional measurement and composite imaging system, which comprises the following steps:
s1, acquiring photoelectron point cloud data: the servo scanning subsystem drives the multi-beam laser radar subsystem to realize one-dimensional small-angle rapid swaying by taking any pitch angle of the flying platform in the vertical direction as the center, and the multi-beam laser radar subsystem realizes continuous measurement in the rail direction by utilizing the movement of the flying platform and acquires photoelectron point cloud data storage and output of a target area;
s2, obtaining visible light image information: the servo scanning subsystem drives the visible light camera to realize one-dimensional small-angle rapid swaying by taking any pitch angle as a center along the vertical flight direction of the flight platform, and the servo scanning subsystem is used for cooperatively measuring and acquiring visible light image information output of a target area with the multi-beam laser radar subsystem;
s3, acquiring geographic coordinate information of the pointing angle and the flight platform: the GNSS/IMU integrated navigation unit acquires the pointing angle of the servo scanning subsystem and outputs the geographic coordinate information of the flight platform;
s4, coordinate calculation: the photoelectron point cloud data, the visible light image, the pointing angle and the geographic coordinate information are fused and converted into three-dimensional coordinate values of the laser ground point under a geocentric coordinate system WGS84, and a cross-section point cloud of the scanning track is output;
s5, composite imaging: and carrying out point cloud denoising and filtering on the section point cloud to obtain a linear digital elevation model, obtaining a three-dimensional laser point cloud of a target area through the multi-section linear digital elevation model, converting visible light image information into a track file and an image external azimuth element of a visible light camera by combining with geographic coordinate information of a flight platform, generating a digital orthographic image by combining with an original image of the visible light camera, and registering the three-dimensional laser point cloud with the digital orthographic image to obtain a three-dimensional image of the target area.
The invention relates to a method for using an airborne oblique laser three-dimensional measurement and composite imaging system, which is characterized in that, as an optimal mode,
in the step S1, photoelectron point cloud data is the time difference delta t between the electric pulse of a transmitting signal and the electric pulse of an echo signal of the multi-beam laser radar subsystem;
in step S3, the pointing angle is theta;
in step S3, the geographic coordinate information includes a heading angle, a pitch angle, a roll angle, a latitude coordinate B, a longitude coordinate L, and an ellipsoid altitude coordinate H.
The invention relates to a using method of an airborne oblique laser three-dimensional measurement and composite imaging system, and the step S4 comprises the following steps:
s41, obtaining radar ranging distance: converting the time difference Δt into a radar ranging distance (ρ): ρ=c×Δt/2, where C is the transmission speed of light in the atmosphere, i.e., 299552816m/s;
s42, obtaining coordinates in a WGS84 coordinate system: converting latitude coordinate B, longitude coordinate L and ellipsoid high coordinate H into WGCoordinates in S84 coordinate System [ X ] gps Y gps Z gps ] T :
Wherein e is the first eccentricity of the WGS84 ellipsoid, 0.08181919092890624; n is the radius of curvature of the circle of mortise and tenon +.>Wherein a is the major half axis of the WGS84 ellipsoid, 6378137;
s43, obtaining offset and offset angle: offset [ X ] from laser emergent point of multi-beam laser radar subsystem to center of GNSS/IMU integrated navigation unit antenna is obtained through measurement offset Y offset Z offset ] T Obtaining the offset angle of the GNSS/IMU integrated navigation unit and the multi-beam laser radar subsystem: α, β, γ;
s44, obtaining three-dimensional coordinate values under a geocentric coordinate system WGS 84: the radar is used for measuring the distance rho, the pointing angle theta and the coordinate [ X ] under the WGS84 coordinate system gps Y gps Z gps ] T And the offset angles alpha, beta, gamma are converted into three-dimensional coordinate values [ X ] under a geocentric coordinate system WGS84 E Y E Z E ] T ：
Wherein:
the invention has the following advantages:
(1) According to the invention, a mode that the multi-beam laser radar, the visible light camera and the scanning mechanism work cooperatively under the synchronization of the second pulse output by the GNSS/IMU integrated navigation unit is adopted, so that the multi-beam laser radar and the visible light camera observe the ground target synchronously, and the problem of whole-day inclination/vertical high-resolution imaging three-dimensional measurement of the target area under the airborne platform is solved.
(2) The multi-beam laser radar subsystem adopts a framework of diffraction element beam splitting and array optical fiber receiving, and array single photon detector detection, combines a one-dimensional scanning mechanism and platform movement, and ensures the radar action distance and measurement accuracy and simultaneously considers the ground resolution and imaging efficiency. The method solves the problems of long-distance, high resolution, high precision and high efficiency acquisition of laser three-dimensional imaging.
Drawings
FIG. 1 is a block diagram of an embodiment 1 of an airborne oblique laser three-dimensional measurement and composite imaging system;
FIG. 2 is a block diagram of an embodiment 2-3 of an airborne oblique laser three-dimensional measurement and composite imaging system;
FIG. 3 is a flow chart of a method for using the airborne oblique laser three-dimensional measurement and composite imaging system;
fig. 4 is a flowchart of a method step S4 for using the airborne oblique laser three-dimensional measurement and composite imaging system.
Reference numerals:
1. a servo scanning subsystem; 11. a first scanning mechanism; 12. a second scanning mechanism; 13. a mechanism driving control unit; 2. a multi-beam lidar subsystem; 21. a single wavelength laser; 22. a laser beam splitter; 23. receiving a telescope; 24. a receiving optical unit; 25. an array single photon detector; 26. a comprehensive management and data processing unit; 3. a visible light camera; 4. and a GNSS/IMU combined navigation unit.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Example 1
As shown in fig. 1, the airborne oblique laser three-dimensional measurement and composite imaging system comprises a servo scanning subsystem 1 arranged on a flight platform, a multi-beam laser radar subsystem 2 and a visible light camera 3 respectively arranged on the servo scanning subsystem 1, and a GNSS/IMU integrated navigation unit 4 connected with the servo scanning subsystem 1;
the servo scanning subsystem 1 is used for realizing one-dimensional small-angle quick swabbing by taking any pitch angle in the vertical direction of flight of the flight platform as a center, the multi-beam laser radar subsystem 2 is used for driving the servo scanning subsystem 1 and realizing continuous measurement along the track direction so as to acquire, store and output photoelectron point cloud data of a target area, and the visible light camera 3 is used for realizing cooperative measurement with the multi-beam laser radar subsystem 2 by utilizing the motion of the servo scanning subsystem 1 and acquiring and outputting visible light image information of the target area; the GNSS/IMU integrated navigation unit 4 is used for acquiring the pointing angle of the servo scanning subsystem 1 and outputting the geographic coordinate information of the flight platform, and the photoelectron point cloud data, the visible light image, the pointing angle and the geographic coordinate information are used for fusing into a three-dimensional stereoscopic image of the target area.
Example 2
As shown in fig. 2, the airborne oblique laser three-dimensional measurement and composite imaging system comprises a servo scanning subsystem 1 arranged on a flight platform, a multi-beam laser radar subsystem 2 and a visible light camera 3 respectively arranged on the servo scanning subsystem 1, and a GNSS/IMU integrated navigation unit 4 connected with the servo scanning subsystem 1;
the servo scanning subsystem 1 is used for realizing one-dimensional small-angle quick swabbing by taking any pitch angle in the vertical direction of flight of the flight platform as a center, the multi-beam laser radar subsystem 2 is used for driving the servo scanning subsystem 1 and realizing continuous measurement along the track direction so as to acquire, store and output photoelectron point cloud data of a target area, and the visible light camera 3 is used for realizing cooperative measurement with the multi-beam laser radar subsystem 2 by utilizing the motion of the servo scanning subsystem 1 and acquiring and outputting visible light image information of the target area; the GNSS/IMU integrated navigation unit 4 is used for acquiring the pointing angle of the servo scanning subsystem 1 and outputting the geographic coordinate information of the flight platform, and the photoelectron point cloud data, the visible light image, the pointing angle and the geographic coordinate information are used for fusing into a three-dimensional stereoscopic image of the target area;
the servo scanning subsystem 1 comprises a first scanning mechanism 11, a second scanning mechanism 12 and a mechanism driving control unit 13 electrically connected with the first scanning mechanism 11 and the second scanning mechanism 12, the multi-beam laser radar subsystem 2 is arranged on the first scanning mechanism 11, the visible light camera 3 is arranged on the second scanning mechanism 12, the mechanism driving control unit 13 is electrically connected with the multi-beam laser radar subsystem 2, and the GNSS/IMU integrated navigation unit 4 is integrally and rigidly connected with a fixed part of the first scanning mechanism 11 and a fixed part of the second scanning mechanism 12;
the multi-beam laser radar subsystem 2 comprises a multi-beam laser radar, wherein the multi-beam laser radar comprises a single-wavelength laser 21 and a laser beam splitter 22 which are sequentially arranged, a receiving telescope 23, a receiving optical unit 24, an array single-photon detector 25 and a comprehensive management and data processing unit 26 which are electrically connected with the single-wavelength laser 21 and the array single-photon detector 25;
the single wavelength laser 21 is used for emitting laser pulses, the laser beam splitter 22 is used for receiving the laser pulses and splitting the laser pulses into multiple beams to be emitted to a target area, the receiving telescope 23 is used for receiving the multiple beams scattered by the target area and outputting the multiple beams, the receiving optical unit 24 is used for optically coupling, splitting, collimating and filtering the multiple beams output by the receiving telescope 23, then converting the scattered light and echo light signals into emitted light signals are converged on corresponding pixels of the array single photon detector 25, and the array single photon detector 25 is used for receiving the scattered light and echo light signals of the emitted light signals, performing photoelectric conversion and outputting emitted signal electric pulses and echo signal electric pulses to the integrated management and data processing unit 26; the integrated management and data processing unit 26 is used for controlling the single-wavelength laser 21 to emit laser pulses, and the integrated management and data processing unit 26 is used for measuring and storing time differences between the multi-channel emission signal electric pulses and the echo signal electric pulses, wherein the time differences are photoelectron point cloud data;
the integrated management and data processing unit 26 is electrically connected with the mechanism driving control unit 13, and the integrated management and data processing unit 26 is used for controlling the mechanism driving control unit 13;
the laser beam splitter 22 includes a beam expander for compressing the divergence angle of the laser pulse and a diffraction beam splitter for splitting the laser multi-line beam so that the laser light is emitted at a fixed equal interval angle;
the receiving optical unit 24 includes an array coupling optical fiber and a double telecentric lens, the array coupling optical fiber is used for coupling and outputting echo optical signals of different beams to the double telecentric lens, and the double telecentric lens receives the echo optical signals output by the array coupling optical fiber and converges the echo optical signals of different optical fiber channels on the photosensitive surfaces corresponding to the array single photon detector 25 after collimation and narrow-band filtering;
the array coupling optical fibers are fixed by using V-shaped grooves, the optical fibers at the focal plane end of the receiving telescope 23 are distributed in 16X 4 multiple lines, and the beams are split into 4 beams; the front ends of the double telecentric lenses are arranged in a 4 multiplied by 4 matrix;
the array single photon detector 25 is an avalanche photodiode array, and photosensitive surface pixels are arranged in a multi-channel rectangular mode;
the integrated management and data processing unit 26 includes carry chain resources in the FPGA;
the multi-beam laser radar subsystem 2 performs laser pulse emission according to a fixed time sequence under the synchronization of second pulses output by the GNSS/IMU integrated navigation unit 4;
the visible light imaging camera 3 performs visible light exposure according to a fixed time sequence under the synchronization of the second pulse output by the GNSS/IMU integrated navigation unit 4.
Example 3
As shown in fig. 2, the airborne oblique laser three-dimensional measurement and composite imaging system comprises a servo scanning subsystem 1 arranged on a flight platform, a multi-beam laser radar subsystem 2 and a visible light camera 3 respectively arranged on the servo scanning subsystem 1, and a GNSS/IMU integrated navigation unit 4 connected with the servo scanning subsystem 1;
the servo scanning subsystem 1 is used for realizing one-dimensional small-angle quick swabbing by taking any pitch angle in the vertical direction of flight of the flight platform as a center, the multi-beam laser radar subsystem 2 is used for driving the servo scanning subsystem 1 and realizing continuous measurement along the track direction so as to acquire, store and output photoelectron point cloud data of a target area, and the visible light camera 3 is used for realizing cooperative measurement with the multi-beam laser radar subsystem 2 by utilizing the motion of the servo scanning subsystem 1 and acquiring and outputting visible light image information of the target area; the GNSS/IMU integrated navigation unit 4 is used for acquiring the pointing angle of the servo scanning subsystem 1 and outputting the geographic coordinate information of the flight platform, and the photoelectron point cloud data, the visible light image, the pointing angle and the geographic coordinate information are used for fusing into a three-dimensional stereoscopic image of the target area;
the servo scanning subsystem 1 comprises a first scanning mechanism 11, a second scanning mechanism 12 and a mechanism driving control unit 13 electrically connected with the first scanning mechanism 11 and the second scanning mechanism 12, the multi-beam laser radar subsystem 2 is arranged on the first scanning mechanism 11, the visible light camera 3 is arranged on the second scanning mechanism 12, the mechanism driving control unit 13 is electrically connected with the multi-beam laser radar subsystem 2, and the GNSS/IMU integrated navigation unit 4 is integrally and rigidly connected with a fixed part of the first scanning mechanism 11 and a fixed part of the second scanning mechanism 12; the mechanism driving control unit drives the first scanning mechanism to realize one-dimensional small-angle rapid swaying by taking any pitch angle of the vertical direction of the aircraft flight as a center under the control of the integrated management and data processing unit, the swaying angle range is +/-5 degrees, and meanwhile, the continuous measurement in the along-track direction is realized by utilizing the motion of the aircraft, so that the wide-width continuous laser three-dimensional imaging of the multi-beam laser radar on the ground target is realized. The imaging breadth can reach 1km when the flight height of the platform is 6 km;
the visible light camera is arranged on a second scanning mechanism of the servo scanning subsystem, and the mechanism driving control unit drives the second scanning mechanism under the control of the integrated management and data processing unit to adjust the optical axis direction of the visible light camera to be consistent with the scanning center angle direction of the laser radar subsystem; the focal length of the visible light camera is 35mm, the visible light camera is fixed on the second scanning mechanism according to the orthographic angle, and the visible light camera is used for measuring in cooperation with laser to obtain visible light image information of a target area;
the multi-beam laser radar subsystem 2 comprises a multi-beam laser radar, wherein the multi-beam laser radar comprises a single-wavelength laser 21 and a laser beam splitter 22 which are sequentially arranged, a receiving telescope 23, a receiving optical unit 24, an array single-photon detector 25 and a comprehensive management and data processing unit 26 which are electrically connected with the single-wavelength laser 21 and the array single-photon detector 25;
the single wavelength laser 21 is used for emitting laser pulses with the wavelength of 1064nm, the single pulse energy is 1mJ, the pulse width is 2ns, and the laser pulses with the repetition frequency of 40KHz are output through the coupling optical fiber; the laser beam splitter 22 is used for receiving laser pulses and splitting the laser pulses into multiple beams to be transmitted to a target area, the receiving telescope 23 is used for receiving the multiple beams scattered by the target area and outputting the multiple beams, the receiving optical unit 24 is used for optically coupling, splitting the beams, collimating and filtering the multiple beams output by the receiving telescope 23, then converting the multiple beams into scattered light and echo light signals of the transmitted light signals, converging the scattered light and the echo light signals on corresponding pixels of the array single photon detector 25, and the array single photon detector 25 is used for receiving the scattered light and the echo light signals of the transmitted light signals, performing photoelectric conversion and outputting the transmitted signal electric pulses and the echo signal electric pulses to the integrated management and data processing unit 26; the integrated management and data processing unit 26 is used for controlling the single-wavelength laser 21 to emit laser pulses, and the integrated management and data processing unit 26 is used for measuring and storing time differences between the multi-channel emission signal electric pulses and the echo signal electric pulses, wherein the time differences are photoelectron point cloud data;
the integrated management and data processing unit 26 is electrically connected with the mechanism driving control unit 13, and the integrated management and data processing unit 26 is used for controlling the mechanism driving control unit 13;
the laser beam splitter 22 includes a beam expander for compressing the divergence angle of the laser pulse and a diffraction beam splitter for splitting the laser multi-line beam so that the laser light is emitted at a fixed equal interval angle; the divergence angle of the compressed light pulse is 50urad, and the output laser pulse is subjected to laser multi-line beam splitting through a diffraction beam splitter (DOE) to realize the laser emission with fixed equal interval angles. The DOE mainly utilizes the diffraction characteristic of light to realize the required output light field distribution, has the characteristics of light weight and high design freedom, and can realize laser beam splitting with high diffraction efficiency and high uniformity. The system is characterized in that the DOE beam splitting is carried out, 16 multiplied by 4 multi-line arrangement is carried out, and 64 beams of lasers are emitted to a ground target simultaneously;
the receiving optical unit 24 includes an array coupling optical fiber and a double telecentric lens, the array coupling optical fiber is used for coupling and outputting echo optical signals of different beams to the double telecentric lens, and the double telecentric lens receives the echo optical signals output by the array coupling optical fiber and converges the echo optical signals of different optical fiber channels on the photosensitive surfaces corresponding to the array single photon detector 25 after collimation and narrow-band filtering;
the array coupling optical fibers are fixed by using V-shaped grooves, the optical fibers at the focal plane end of the receiving telescope 23 are distributed in 16X 4 multiple lines, and the beams are split into 4 beams; the front ends of the double telecentric lenses are arranged in a 4 multiplied by 4 matrix;
the array single photon detector 25 is an avalanche photodiode array, and photosensitive surface pixels are arranged in a multi-channel rectangular mode; the pixel size is 80 mu m, the center distance is 100 mu m, the response wavelength is 900nm-1600nm, and the photoelectric conversion of single photon magnitude can be realized;
the integrated management and data processing unit 26 includes carry chain resources in the FPGA; realizing 64-channel time difference measurement, wherein the time difference measurement precision is 50ps;
the multi-beam laser radar subsystem 2 performs laser pulse emission according to a fixed time sequence under the synchronization of second pulses output by the GNSS/IMU integrated navigation unit 4;
the visible light imaging camera 3 performs visible light exposure according to a fixed time sequence under the synchronization of second pulses output by the GNSS/IMU integrated navigation unit 4;
the GNSS/IMU integrated navigation unit 4 is integrally and rigidly connected with the fixed part of the first scanning mechanism 11 and the fixed part of the second scanning mechanism 12, so as to ensure the system stability and the stable relation between the multi-beam laser radar and the measurement angle of the absolute pointing angle of the optical axis of the visible light camera 3 in the flight measurement process, acquire the azimuth, roll and navigation angle of the system and the geographic coordinate information of the flight platform, and are used for laser radar coordinate calculation and data processing and simultaneously provide the external azimuth element information of the visible light camera.
Methods of use of examples 1-3: the method comprises the following steps:
as shown in fig. 3, S1, optoelectronic point cloud data is acquired: the servo scanning subsystem 1 drives the multi-beam laser radar subsystem 2 to realize one-dimensional small-angle rapid swabbing by taking any pitch angle of the flying platform in the vertical direction as the center, and the multi-beam laser radar subsystem 2 realizes continuous measurement in the rail direction by utilizing the movement of the flying platform and acquires the photoelectron point cloud data storage and output of a target area; the photoelectron point cloud data is the time difference delta t between the electric pulse of the transmitting signal and the electric pulse of the echo signal of the multi-beam laser radar subsystem 2;
s2, obtaining visible light image information: the servo scanning subsystem 1 drives the visible light camera 3 to realize one-dimensional small-angle rapid swabbing by taking any pitch angle in the vertical direction of the flight platform as the center, and the servo scanning subsystem and the multi-beam laser radar subsystem 2 cooperatively measure and acquire the visible light image information output of a target area;
s3, acquiring geographic coordinate information of the pointing angle and the flight platform: the GNSS/IMU integrated navigation unit 4 acquires the pointing angle of the servo scanning subsystem 1 and outputs the geographic coordinate information of the flight platform; the pointing angle is theta; the geographic coordinate information comprises a course angle, a pitch angle, a roll angle, a latitude coordinate B, a longitude coordinate L and an ellipsoidal height coordinate H;
s4, coordinate calculation: the photoelectron point cloud data, the visible light image, the pointing angle and the geographic coordinate information are fused and converted into three-dimensional coordinate values of the laser ground point under a geocentric coordinate system WGS84, and a cross-section point cloud of the scanning track is output;
as shown in fig. 4, S41, obtain radar ranging distance: converting the time difference Δt into a radar ranging distance (ρ): ρ=c×Δt/2, where C is the transmission speed of light in the atmosphere, i.e., 299552816m/s;
s42, obtaining coordinates in a WGS84 coordinate system: converting latitude coordinate B, longitude coordinate L and ellipsoid high coordinate H into coordinate [ X ] under WGS84 coordinate system gps Y gps Z gps ] T :
Where e is the first eccentricity of the WGS84 ellipsoid,i.e. 0.08181919092890624; n is the radius of curvature of the circle of mortise and tenon +.>Wherein a is the major half axis of the WGS84 ellipsoid, 6378137;
s43, obtaining offset and offset angle: offset [ X ] from laser emergent point of multi-beam laser radar subsystem 2 to antenna center of GNSS/IMU integrated navigation unit 4 is obtained through measurement offset Y offset Z offset ] T Obtaining the offset angle of the GNSS/IMU combined navigation unit 4 and the multi-beam laser radar subsystem 2: α, β, γ;
s44, obtaining three-dimensional coordinate values under a geocentric coordinate system WGS 84: the radar is used for measuring the distance rho, the pointing angle theta and the coordinate [ X ] under the WGS84 coordinate system gps Y gps Z gps ] T And the offset angles alpha, beta, gamma are converted into three-dimensional coordinate values [ X ] under a geocentric coordinate system WGS84 E Y E Z E ] T ：
Wherein:
s5, composite imaging: carrying out point cloud denoising and filtering on the section point cloud to obtain a linear digital elevation model, obtaining a three-dimensional laser point cloud of a target area through a multi-section linear digital elevation model, converting visible light image information into a track file and an image external azimuth element of a visible light camera 3 by combining geographic coordinate information of a flight platform, generating a digital orthographic image by combining the digital orthographic image with an original image of the visible light camera 3, registering the three-dimensional laser point cloud with the digital orthographic image, and obtaining a three-dimensional stereoscopic image of the target area;
when the system is measured, the laser radar subsystem 2 and the visible light imaging camera 3 perform laser emission and visible light exposure according to a fixed time sequence under the synchronization of second pulses output by the GNSS/IMU integrated navigation unit 4 so as to realize synchronous measurement; the fixed time sequence is to take the falling edge of the output second pulse as a reference, laser pulse of 40KHz is emitted by laser for measurement, and the visible light camera is exposed once every 2s to acquire a visible light image.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (3)
1. An airborne oblique laser three-dimensional measurement and composite imaging system is characterized in that: the system comprises a servo scanning subsystem (1) arranged on a flight platform, a multi-beam laser radar subsystem (2) and a visible light camera (3) which are respectively arranged on the servo scanning subsystem (1), and a GNSS/IMU integrated navigation unit (4) connected with the servo scanning subsystem (1);
the system comprises a servo scanning subsystem (1), a multi-beam laser radar subsystem (2) and a visible light camera (3), wherein the servo scanning subsystem (1) is used for realizing one-dimensional small-angle rapid swaying along the vertical direction of flight of the flight platform by taking any pitch angle as a center, the multi-beam laser radar subsystem (2) is used for driving the servo scanning subsystem (1) and realizing continuous measurement along the track direction so as to acquire, store and output photoelectron point cloud data of a target area, and the visible light camera (3) is used for realizing cooperative measurement with the multi-beam laser radar subsystem (2) by utilizing the motion of the servo scanning subsystem (1) and acquiring and outputting visible light image information of the target area; the GNSS/IMU integrated navigation unit (4) is used for acquiring the pointing angle of the servo scanning subsystem (1) and outputting the geographic coordinate information of the flight platform, and the photoelectron point cloud data, the visible light image, the pointing angle and the geographic coordinate information are used for being fused into a three-dimensional stereoscopic image of the target area;
the servo scanning subsystem (1) comprises a first scanning mechanism (11), a second scanning mechanism (12) and a mechanism driving control unit (13) electrically connected with the first scanning mechanism (11) and the second scanning mechanism (12), the multi-beam laser radar subsystem (2) is arranged on the first scanning mechanism (11), the visible light camera (3) is arranged on the second scanning mechanism (12), the mechanism driving control unit (13) is electrically connected with the multi-beam laser radar subsystem (2), and the GNSS/IMU combined navigation unit (4) is integrally and rigidly connected with a fixed part of the first scanning mechanism (11) and a fixed part of the second scanning mechanism (12);
the multi-beam laser radar subsystem (2) comprises a multi-beam laser radar, wherein the multi-beam laser radar comprises a single-wavelength laser (21) and a laser beam splitter (22) which are sequentially arranged, a receiving telescope (23), a receiving optical unit (24) and an array single-photon detector (25) which are sequentially arranged, and a comprehensive management and data processing unit (26) which is electrically connected with the single-wavelength laser (21) and the array single-photon detector (25);
the single-wavelength laser (21) is used for emitting laser pulses, the laser beam splitter (22) is used for receiving the laser pulses and splitting the laser pulses into multiple beams to be emitted to the target area, the receiving telescope (23) is used for receiving the multiple beams scattered by the target area and outputting the multiple beams, the receiving optical unit (24) is used for optically coupling, splitting, collimating and filtering the multiple beams output by the receiving telescope (23) and converting the scattered light and echo light signals into emitted light signals to be converged on corresponding pixels of the array single-photon detector (25), and the array single-photon detector (25) is used for receiving the scattered light and echo light signals of the emitted light signals to be subjected to photoelectric conversion and outputting emitted signal electric pulses and echo signal electric pulses to the integrated management and data processing unit (26); the integrated management and data processing unit (26) is used for controlling the single-wavelength laser (21) to emit the laser pulse, the integrated management and data processing unit (26) is used for measuring and storing time differences between the multi-channel emission signal electric pulse and the echo signal electric pulse, and the time differences are the photoelectron point cloud data;
the laser beam splitter (22) comprises a beam expander for compressing the divergence angle of the laser pulse and a diffraction beam splitter for multi-line splitting of the laser so as to enable the laser to emit at fixed equal interval angles;
the receiving optical unit (24) comprises an array coupling optical fiber and a double telecentric lens, the array coupling optical fiber is used for coupling and outputting the echo optical signals of different beams to the double telecentric lens, the double telecentric lens receives the echo optical signals output by the array coupling optical fiber and focuses and filters the echo optical signals of different optical fiber channels on a photosensitive surface corresponding to the array single photon detector (25), and the photosensitive surface pixels of the array single photon detector (25) are arranged in a multi-channel rectangular shape;
the integrated management and data processing unit (26) is electrically connected with the mechanism driving control unit (13), and the integrated management and data processing unit (26) is used for controlling the mechanism driving control unit (13);
the mechanism driving control unit (13) drives the second scanning mechanism (12) under the control of the integrated management and data processing unit (26) to adjust the optical axis direction of the visible light camera (3) to be consistent with the scanning center angle direction of the multi-beam laser radar subsystem (2), and the visible light camera (3) and laser cooperatively measure to acquire visible light image information of a target area;
the using method of the airborne oblique laser three-dimensional measurement and composite imaging system comprises the following steps:
s1, acquiring photoelectron point cloud data: the servo scanning subsystem (1) drives the multi-beam laser radar subsystem (2) to realize one-dimensional small-angle rapid swabbing by taking any pitch angle as a center along the vertical flight direction of the flight platform, and the multi-beam laser radar subsystem (2) utilizes the movement of the flight platform to realize continuous measurement along the track direction and acquire photoelectron point cloud data storage and output of a target area; the photoelectron point cloud data is the time difference delta t between the transmitted signal electric pulse and the echo signal electric pulse of the multi-beam laser radar subsystem (2); the multi-beam laser radar subsystem (2) performs laser pulse emission according to a fixed time sequence under the synchronization of second pulses output by the GNSS/IMU integrated navigation unit (4);
s2, obtaining visible light image information: the servo scanning subsystem (1) drives the visible light camera (3) to realize one-dimensional small-angle quick swabbing by taking any pitch angle as a center along the vertical flight direction of the flight platform, and the servo scanning subsystem and the multi-beam laser radar subsystem (2) cooperatively measure and acquire visible light image information output of the target area; the visible light imaging camera (3) performs visible light exposure according to a fixed time sequence under the synchronization of second pulses output by the GNSS/IMU integrated navigation unit (4);
s3, acquiring geographic coordinate information of the pointing angle and the flight platform: a GNSS/IMU integrated navigation unit (4) acquires the pointing angle of the servo scanning subsystem (1) and outputs the geographic coordinate information of the flight platform; the pointing angle is theta, and the geographic coordinate information comprises a course angle, a pitch angle, a roll angle, a latitude coordinate B, a longitude coordinate L and an ellipsoidal high coordinate H;
s4, coordinate calculation: the photoelectron point cloud data, the visible light image, the pointing angle and the geographic coordinate information are fused and converted into three-dimensional coordinate values of a laser ground point under a geocentric coordinate system WGS84, and a cross-section point cloud of a scanning track is output;
s41, obtaining radar ranging distance: converting the time difference Δt into a radar ranging distance ρ: ρ=c×Δt/2, where C is the transmission speed of light in the atmosphere, i.e., 299552816m/s;
s42, obtaining coordinates in a WGS84 coordinate system: converting the latitude coordinate B, the longitude coordinate L and the ellipsoid high coordinate H into WGS84Coordinates in a coordinate system：
Wherein e is the first eccentricity of the WGS84 ellipsoid, 0.08181919092890624; n is the radius of curvature of the circle of mortise and tenon +.>Wherein a is the major half axis of the WGS84 ellipsoid, 6378137 meters;
s43, obtaining offset and offset angle: measuring and obtaining offset from a laser emergent point of the multi-beam laser radar subsystem (2) to the antenna center of the GNSS/IMU integrated navigation unit (4)Obtaining the offset angle of the GNSS/IMU integrated navigation unit (4) and the multi-beam laser radar subsystem (2): />；
S44, obtaining three-dimensional coordinate values under a geocentric coordinate system WGS 84: coordinates in the WGS84 coordinate system, the radar ranging distance ρ, the pointing angle θ, and the radar ranging distance ρAnd said offset angle->Converted into three-dimensional coordinate values in the geocentric coordinate system WGS84>：
，
Wherein:；
；
；
s5, composite imaging: and carrying out point cloud denoising and filtering on the section point cloud to obtain a linear digital elevation model, obtaining a three-dimensional laser point cloud of a target area through a multi-section linear digital elevation model, converting the visible light image information into a track file and an image external azimuth element of the visible light camera (3) by combining with the geographic coordinate information of the flight platform, generating a digital orthographic image by combining with an original image of the visible light camera (3), and registering the three-dimensional laser point cloud with the digital orthographic image to obtain a three-dimensional image of the target area.
2. The airborne oblique laser three-dimensional measurement and composite imaging system of claim 1, wherein: the array coupling optical fibers are fixed by using V-shaped grooves, the optical fibers at the focal plane end of the receiving telescope (23) are distributed in 16 multiplied by 4 multiple lines, and the beams are split into 4 beams; the front ends of the double telecentric lenses are arranged in a 4 multiplied by 4 matrix;
the array single photon detector (25) is an array of avalanche photodiodes.
3. The airborne oblique laser three-dimensional measurement and composite imaging system of claim 1, wherein: the integrated management and data processing unit (26) comprises carry chain resources in an FPGA.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011260488.3A CN112558102B (en) | 2020-11-12 | 2020-11-12 | Airborne oblique laser three-dimensional measurement and composite imaging system and application method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011260488.3A CN112558102B (en) | 2020-11-12 | 2020-11-12 | Airborne oblique laser three-dimensional measurement and composite imaging system and application method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112558102A CN112558102A (en) | 2021-03-26 |
| CN112558102B true CN112558102B (en) | 2023-09-29 |
Family
ID=75042984
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011260488.3A Active CN112558102B (en) | 2020-11-12 | 2020-11-12 | Airborne oblique laser three-dimensional measurement and composite imaging system and application method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112558102B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113534191B (en) * | 2021-07-26 | 2022-11-29 | 重庆连芯光电技术研究院有限公司 | 3d image scanning and repairing method, device and equipment of single photon laser radar |
| CN113640825A (en) * | 2021-08-11 | 2021-11-12 | 成都中科合迅科技有限公司 | Unmanned aerial vehicle composite three-dimensional surveying and mapping system and method |
| CN114859378A (en) * | 2022-04-22 | 2022-08-05 | 中国科学院光电技术研究所 | Multi-element parallel scanning photon counting laser radar |
| CN114812274B (en) * | 2022-04-27 | 2024-06-21 | 中国电子科技集团公司第十四研究所 | High-precision water column deviation measuring method, system, equipment and computer medium |
| CN114877749B (en) * | 2022-04-29 | 2023-12-12 | 中国电子科技集团公司第十四研究所 | Broadband automatic water column deviation measuring method, system, equipment and computer medium |
| CN115327561B (en) * | 2022-08-29 | 2023-04-18 | 中国科学院云南天文台 | Laser ranging active tracking device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105783875A (en) * | 2016-05-10 | 2016-07-20 | 绵阳天眼激光科技有限公司 | Aerial photogrammetric system integrated with non-scanning laser radar and aerial photogrammetric method |
| CN107807365A (en) * | 2017-10-20 | 2018-03-16 | 国家林业局昆明勘察设计院 | Small-sized digital photography there-dimensional laser scanning device for the unmanned airborne vehicle in low latitude |
| CN108562911A (en) * | 2018-06-29 | 2018-09-21 | 北京遥测技术研究所 | A kind of airborne large footprint lidar vegetation measuring system |
| CN109597095A (en) * | 2018-11-12 | 2019-04-09 | 北京大学 | Backpack type 3 D laser scanning and three-dimensional imaging combined system and data capture method |
| CN109990729A (en) * | 2019-01-15 | 2019-07-09 | 广东工业大学 | A kind of lens three-dimensional contour outline measuring set and method based on the scanning of electric current wave number |
| CN110632714A (en) * | 2019-09-20 | 2019-12-31 | 中国科学院长春光学精密机械与物理研究所 | Optical fiber coupling system and coupling method |
| CN111190192A (en) * | 2020-01-13 | 2020-05-22 | 中国科学院上海光学精密机械研究所 | Airborne array three-dimensional coherent scanning laser radar |
-
2020
- 2020-11-12 CN CN202011260488.3A patent/CN112558102B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105783875A (en) * | 2016-05-10 | 2016-07-20 | 绵阳天眼激光科技有限公司 | Aerial photogrammetric system integrated with non-scanning laser radar and aerial photogrammetric method |
| CN107807365A (en) * | 2017-10-20 | 2018-03-16 | 国家林业局昆明勘察设计院 | Small-sized digital photography there-dimensional laser scanning device for the unmanned airborne vehicle in low latitude |
| CN108562911A (en) * | 2018-06-29 | 2018-09-21 | 北京遥测技术研究所 | A kind of airborne large footprint lidar vegetation measuring system |
| CN109597095A (en) * | 2018-11-12 | 2019-04-09 | 北京大学 | Backpack type 3 D laser scanning and three-dimensional imaging combined system and data capture method |
| CN109990729A (en) * | 2019-01-15 | 2019-07-09 | 广东工业大学 | A kind of lens three-dimensional contour outline measuring set and method based on the scanning of electric current wave number |
| CN110632714A (en) * | 2019-09-20 | 2019-12-31 | 中国科学院长春光学精密机械与物理研究所 | Optical fiber coupling system and coupling method |
| CN111190192A (en) * | 2020-01-13 | 2020-05-22 | 中国科学院上海光学精密机械研究所 | Airborne array three-dimensional coherent scanning laser radar |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112558102A (en) | 2021-03-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112558102B (en) | Airborne oblique laser three-dimensional measurement and composite imaging system and application method thereof | |
| CN109375237B (en) | A kind of all solid state face array three-dimensional imaging laser radar system | |
| CN109597095A (en) | Backpack type 3 D laser scanning and three-dimensional imaging combined system and data capture method | |
| CN107703517B (en) | Airborne multi-beam optical phased array laser three-dimensional imaging radar system | |
| US6664529B2 (en) | 3D multispectral lidar | |
| Zhou et al. | Flash Lidar sensor using fiber-coupled APDs | |
| CN206541029U (en) | Based on the coaxial three anti-four wave beam laser three-dimensional imaging systems without burnt telescope | |
| CN108152830A (en) | A kind of laser radar scanning imaging system and its measuring method | |
| CN105301600B (en) | A kind of no-raster laser three-dimensional imaging device based on taper reflection | |
| CN207380238U (en) | A kind of laser radar based on diffraction optics | |
| CN101201403A (en) | Three-dimensional polarization imaging lidar remote sensor | |
| CN207408590U (en) | A kind of laser radar based on two-dimentional DOE elements | |
| CN103994719A (en) | High-precision three-dimensional imaging device based on Geiger APD arrays and using method thereof | |
| CN104931974A (en) | Light source modulation and demodulation-based ICMOS high-speed 3D imaging laser radar | |
| CN207833020U (en) | A kind of laser radar scanning imaging system | |
| CN104991255A (en) | Visual principle-based multipoint laser range radar | |
| CN107861920A (en) | cloud data registration method | |
| CN110553599A (en) | high-resolution high-speed laser three-dimensional imaging system | |
| CN109298431B (en) | Three-band airborne laser radar system | |
| Degnan et al. | Design and performance of an airborne multikilohertz photon-counting microlaser altimeter | |
| CN102043155A (en) | Airborne staring imaging three-dimensional gated imaging control data splicing method and system | |
| CN109541545A (en) | A kind of multiwavelength laser space positioning system and method | |
| Albota et al. | Contributed Review: Advanced three-dimensional laser radar imaging with the airborne optical systems testbed | |
| Yang et al. | Adaptive wavelength scanning lidar (AWSL) for 3d mapping from space | |
| US20150092179A1 (en) | Light ranging with moving sensor array |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |