CN112762910A - Short-measuring-range correction calibration method suitable for laser scanner - Google Patents

Short-measuring-range correction calibration method suitable for laser scanner Download PDF

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CN112762910A
CN112762910A CN202110145448.2A CN202110145448A CN112762910A CN 112762910 A CN112762910 A CN 112762910A CN 202110145448 A CN202110145448 A CN 202110145448A CN 112762910 A CN112762910 A CN 112762910A
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short
scanner
scanning
measuring
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CN112762910B (en
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王子轩
贺祎侃
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Shanghai Jinghai Engineering Technology Co ltd
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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
    • 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
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass

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  • Engineering & Computer Science (AREA)
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Abstract

The invention relates to a short measuring range correction calibration method suitable for a laser scanner, which comprises the following steps of S1, respectively arranging a plurality of pairs of target balls on two sides of a scanning line of the laser scanner; s2, scanning the target ball by a scanner to obtain the coordinates of the center of the target ball; s3, respectively measuring and acquiring the coordinates of the center of the target sphere by using a total station; s4, screening out target balls for calibration; and S5, calculating the short range correction value. The present invention has the following advantages. 1) The problem of short measuring range calibration of a scanner in subway tunnel moving scanning is solved; 2) the measurement distance and the measurement mode of the subway tunnel are simulated to carry out target ball arrangement, and the calibration result is more in line with the tunnel measurement use environment; 3) the sphere center of the target sphere is fitted by utilizing the scanning points of the scanning target sphere, so that the algorithm is high in precision and strong in robustness; 4) simple and convenient operation and is suitable for practical engineering application.

Description

Short-measuring-range correction calibration method suitable for laser scanner
Technical Field
The invention relates to the technical field of tunnel monitoring, in particular to a short-measuring-distance correction calibration method suitable for a laser scanner.
Background
In recent years, with the rapid development of urban rail transit industry in China, the mileage of subway tunnels is continuously increased, and the requirement for safety monitoring of subway tunnels is also continuously improved. Under the background, the detection of the subway tunnel by using the laser scanner gradually becomes an important technical means in the safety detection of the subway tunnel, and particularly, a mobile subway tunnel detection system carrying the laser scanner is widely applied.
In a mobile subway tunnel detection system, the distance measurement precision of a laser scanner directly influences the tunnel detection precision of the whole system, and in practical engineering application, the fact that the laser scanner is in a use environment (such as a tunnel) with a short measurement range is found, compared with a measurement result of a traditional total station, a millimeter-scale fixed distance measurement error often exists, calibration of the distance measurement error is called short-measurement-range correction calibration, a short-measurement-range calibration scheme aiming at the laser scanner in a tunnel measurement mobile scanning system does not exist at present, and a solution needs to be provided for the problem in a targeted mode.
Disclosure of Invention
The invention aims to solve the problem of short-range correction and calibration of a laser scanner in a tunnel mobile scanning system, and provides a short-range correction and calibration method suitable for the laser scanner.
In order to achieve the above object, the present invention provides a short measuring distance correction calibration method suitable for a laser scanner, comprising the following steps.
And S1, respectively arranging a plurality of pairs of target balls on two sides of the scanning line of the laser scanner.
And S2, respectively scanning and acquiring the coordinates of the sphere center of the target sphere by using the scanner.
And S3, respectively measuring and acquiring the coordinates of the center of the target sphere by using a total station.
And S4, screening out target balls for calibration.
And S5, calculating the short range correction value.
Further, in the step S1, the laser scanner needs to be set to a spiral scanning mode first, and set to scanning parameters commonly used in a tunnel scanning environment, as shown in fig. 1, a plurality of pairs of target balls are arranged from top to bottom at positions in a scanning plane of the scanner, the positions being about 3m away from the left and right sides of the scanner, each pair of target balls being located at substantially the same height, and the positions of the target balls being adjusted according to the positions of scanning lines of the scanner, so that the scanning lines can scan the great circle positions of the target balls as much as possible.
Further, in the step S2, the target ball is scanned by the scanner according to the two-dimensional line scanning mode to obtain the point cloud on the surface of the target ball, as shown in fig. 2, in the two-dimensional scanning mode, the point cloud on the surface of the target ball is a part of a circle, and the least square circle center of the point cloud is solved.
The general circular curve equation is:
Figure 64849DEST_PATH_IMAGE001
the equation can be converted to another form:
Figure 418470DEST_PATH_IMAGE002
wherein:
Figure 951083DEST_PATH_IMAGE003
for a series of points
Figure 149983DEST_PATH_IMAGE004
Performing circle fitting
Difference between square of distance from point to circle center and square of radius
Figure 818862DEST_PATH_IMAGE005
Order to
Figure 218750DEST_PATH_IMAGE006
Due to the fact that
Figure 973080DEST_PATH_IMAGE007
Therefore, Q has a minimum value point, and the deviation is calculated to obtain the minimum value
Figure 241250DEST_PATH_IMAGE008
Solving the above equation system yields:
Figure 30214DEST_PATH_IMAGE009
wherein:
Figure 581763DEST_PATH_IMAGE010
obtain the final two-dimensional circle center coordinate and radius of
Figure 88967DEST_PATH_IMAGE011
The standard radius of a known target ball is
Figure 895249DEST_PATH_IMAGE012
The three-dimensional coordinate of the sphere center of the target sphere is: (
Figure 538720DEST_PATH_IMAGE013
，
Figure 280411DEST_PATH_IMAGE014
，
Figure 743754DEST_PATH_IMAGE015
）。
Further, in the step S3, the method for measuring the coordinates of the sphere center of the target by using the total station includes, as shown in fig. 3, measuring the upper and lower edges of the sphere target by using the total station to obtain zenith angles Z1 and Z2, similarly measuring the left and right edges to obtain horizontal angles H1 and H2, averaging the horizontal angles to obtain the azimuth angle of the sphere center, and measuring the slant distance Dis from the total station to the sphere surface in the direction, so as to obtain the relationship between the sphere radius r and the measured value:
Figure 353727DEST_PATH_IMAGE016
the measured spherical radius r and the total station to spherical center slope distance S thus obtained:
Figure 117283DEST_PATH_IMAGE017
and (3) taking the total station as an origin, and obtaining the three-dimensional coordinates of the sphere center according to a polar coordinate formula:
Figure 888930DEST_PATH_IMAGE018
wherein:
Figure 495361DEST_PATH_IMAGE019
。
further, in the step S4, the process of screening out target balls that can be used for calibration includes: the scanner coordinates and the total station coordinates of the sphere center are acquired for each target sphere in the steps of S2 and S3, wherein the quality of the sphere center coordinates acquired by the scanner is related to the fitting quality of the scanned circle, and when the fitting radius of the scanned circle is larger, the number of scanned points is larger, the fitting quality is higher, and the calibration precision is higher. Therefore, the fitting radius of the scanning circle is R, the design radius of the target ball is R, the data of the target ball with R being more than 85% multiplied by R in all the scanner fitting coordinates are screened out, meanwhile, the total station sphere center measuring coordinates corresponding to the target ball are taken out and combined into a scanner-total station coordinate set which is used as the coordinate information of the screened target ball and participates in the next short measuring range correction calculation.
Further, in the step S5, the procedure of calculating the short range correction value includes: selecting target balls K in the target ball set K selected in the step S4 in turn, and making the scanner center coordinate of the target ball be Psk（Xsk ,Ysk, Zsk) And the spherical center coordinate of the total station is Ptk（Xtk ,Ytk, Ztk) Searching a target ball i closest to the height of the current K target balls in the set K, and calculating the Euclidean distance of the scanner coordinates between the target balls K-i
Figure 643445DEST_PATH_IMAGE020
And calculating the Euclidean distance of the coordinates of the total station between the target balls k-i
Figure 261509DEST_PATH_IMAGE021
The short measurement range is corrected to
Figure 938478DEST_PATH_IMAGE022
And multiple pairs of target balls k-i have multiple short-range corrections, and the average value of all the short-range corrections is calculated to be used as the final short-range correction calibration result.
By adopting the scheme, the invention has the following advantages. 1) The problem of short measuring range calibration of a scanner in subway tunnel moving scanning is solved; 2) the measurement distance and the measurement mode of the subway tunnel are simulated to carry out target ball arrangement, and the calibration result is more in line with the tunnel measurement use environment; 3) the sphere center of the target sphere is fitted by utilizing the scanning points of the scanning target sphere, so that the algorithm is high in precision and strong in robustness; 4) simple and convenient operation and is suitable for practical engineering application.
Drawings
Fig. 1 is a schematic diagram of a target ball arrangement form.
Fig. 2 is a schematic view of a target ball scanned by a scanner.
Fig. 3 is a schematic view of a total station measuring target ball.
Fig. 4 shows the results of the radius fitting of the three-dimensional scan.
Fig. 5 is a comparison of total station three-dimensional scanner data.
Detailed Description
The present invention will be further described with reference to the accompanying drawings, which are shown in FIGS. 1-3.
The invention comprises the following steps.
And S1, respectively arranging a plurality of pairs of target balls on two sides of the scanning line of the laser scanner.
And S2, respectively scanning and acquiring the coordinates of the sphere center of the target sphere by using the scanner.
And S3, respectively measuring and acquiring the coordinates of the center of the target sphere by using a total station.
And S4, screening out target balls for calibration.
And S5, calculating the short range correction value.
S1: according to the figure 1, a plurality of pairs of target balls are respectively arranged on two sides of a scanning line of a laser scanner, in the embodiment, 3 pairs of target balls are arranged, wherein the target balls are lu-ru, lm-rm and ld-rd respectively, the distance between the target balls and the scanner is about 3m, the distance between the target balls and the scanner is similar to the distance between the tunnel wall and the scanner under a subway tunnel measuring environment, the scanner is arranged between a left target ball and a right target ball, the angle of the scanning line of the scanner is finely adjusted, and the scanning line is ensured to scan the great circle position of each target ball as much as possible.
S2: starting a two-dimensional spiral scanning mode of the three-dimensional laser scanner (the two-dimensional scanner can directly start scanning), processing the scanned point cloud by using point cloud processing software, as shown in fig. 2, in the two-dimensional scanning mode, the point cloud on the surface of the target ball is a part of a circle, performing least square circle center solution on the point cloud, and calculating to obtain a scanning circle center coordinate and a radius (A, B, r), wherein the standard radius of the known target ball is
Figure 782937DEST_PATH_IMAGE012
The three-dimensional coordinates of the scanner coordinate system of the sphere center of the target sphere are C (
Figure 469133DEST_PATH_IMAGE013
，
Figure 941703DEST_PATH_IMAGE014
，
Figure 320732DEST_PATH_IMAGE015
）。
S3: measuring the coordinates of the sphere center of the target sphere by using a total station, as shown in fig. 3, measuring the upper and lower edges of the sphere target by using the total station to obtain zenith angles Z1 and Z2, measuring the left and right edges in the same way to obtain horizontal angles H1 and H2, averaging the horizontal angles to obtain the azimuth angle of the sphere center, and measuring the slant distance Dis from the total station to the surface of the sphere in the direction, so as to obtain the relationship between the sphere radius r and the measured value:
Figure 511541DEST_PATH_IMAGE016
the measured spherical radius r and the total station to spherical center slope distance S thus obtained:
Figure 126062DEST_PATH_IMAGE017
taking the total station as an original point, and obtaining the three-dimensional coordinates of the spherical center total station under a coordinate system according to a polar coordinate formula:
Figure 718718DEST_PATH_IMAGE018
wherein:
Figure 268648DEST_PATH_IMAGE019
。
s4: scanning the target balls according to the step S3, repeatedly scanning by finely adjusting the position of the scanner to obtain 6 groups of scanning results in total, obtaining fitting results of all scanning circles as shown in figure 4, wherein the three-dimensional scanner has a larger relation between the fitting quality of the circle center and the number of points, the fitting radius needs to be screened, the design radius of the target balls is 0.725m, the target balls with the fitting radius larger than 0.85 x 0.725=0.616m are selected according to a screening strategy to participate in the next short-range correction value calculation, and the data with thickened fonts in figure 4 is the screened target ball data.
S5: selecting target balls K in the target ball set K selected in the step S4 in turn, and making the scanner center coordinate of the target ball be Psk（Xsk ,Ysk, Zsk) And the spherical center coordinate of the total station is Ptk（Xtk ,Ytk, Ztk) Searching a target ball i closest to the height of the current K target balls in the set K, and calculating the Euclidean distance of the scanner coordinates between the target balls K-i
Figure 681175DEST_PATH_IMAGE020
And calculating the Euclidean distance of the coordinates of the total station between the target balls k-i
Figure 709173DEST_PATH_IMAGE021
The short measurement range is corrected to
Figure 31702DEST_PATH_IMAGE022
Multiple pairs of target balls k-i have multiple short-range corrections, and the total calculation is completeThe average value of the partial short-range correction is used as the final short-range correction calibration result, the calculation result in the embodiment is shown in fig. 5, as can be seen from fig. 5, the contrast difference between the total station and the three-dimensional scanner is small, the accuracy of the three-dimensional scanner is met, and the calibration constant of the three-dimensional scanner in the short-range correction calibration process can be determined to be-1.36 mm.

Claims (6)

1. A short measuring range correction calibration method suitable for a laser scanner is characterized by comprising the following steps:
s1, respectively arranging a plurality of pairs of target balls on two sides of a scanning line of the laser scanner;
s2, scanning the target ball by a scanner to obtain the coordinates of the center of the target ball;
s3, respectively measuring and acquiring the coordinates of the center of the target sphere by using a total station;
s4, screening out target balls for calibration;
and S5, calculating the short range correction value.
2. A short measuring range correction calibration method suitable for a laser scanner is characterized in that in the step S1, the laser scanner needs to be set into a two-dimensional spiral scanning mode firstly, set into common scanning parameters in a tunnel scanning environment and simulate the characteristics of tunnel measuring distance, a plurality of pairs of target balls are arranged from top to bottom at positions which are about 3m away from the left side and the right side of the scanner in a scanning plane of the scanner, each pair of target balls are basically located at the same height, and the positions of the target balls are adjusted according to the positions of scanning lines of the scanner, so that the scanning lines can scan the great circle positions of the target balls as much as possible.
3. A short measuring range correction calibration method suitable for a laser scanner is characterized in that in the step S2, the scanner scans a certain large circle point cloud on a target sphere, the scanning circle center coordinate and radius (A, B, r) are obtained through least square fitting calculation, and the standard radius of the target sphere is known to be
Figure 978485DEST_PATH_IMAGE001
Coordinate system of scanner for determining the center of target ballThree-dimensional coordinate C: (
Figure 409466DEST_PATH_IMAGE002
，
Figure 365790DEST_PATH_IMAGE003
，
Figure 401879DEST_PATH_IMAGE004
）。
4. A short-range correction calibration method suitable for a laser scanner, wherein in the step S3, the method for measuring a target ball by using a total station comprises: measuring the upper edge and the lower edge of the ball target to obtain zenith angles Z1 and Z2, measuring the left edge and the right edge to obtain horizontal angles H1 and H2, averaging the horizontal angles to obtain the azimuth angle of the center of the ball, and measuring the slant distance Dis from the total station to the surface of the ball in the direction, so that the relation between the radius r of the ball and the measured value can be obtained:
Figure 293612DEST_PATH_IMAGE005
and the obtained measured spherical radius r and the total station to spherical center slope distance S:
Figure 680731DEST_PATH_IMAGE006
and taking the total station as an original point, and obtaining the three-dimensional coordinates of the spherical center total station in a coordinate system according to a polar coordinate formula:
Figure 316111DEST_PATH_IMAGE007
wherein:
Figure 613232DEST_PATH_IMAGE008
。
5. a short-range correction calibration method suitable for a laser scanner, wherein in step S4, the strategy for screening target balls is as follows: and setting the standard radius of the target ball as R, selecting the target ball with the scanning large circle fitting radius R being more than 85% multiplied by R as the target ball used for calculating the next short-range correction calibration parameter.
6. A short-measuring-distance correction calibration method suitable for a laser scanner is characterized in that in the step of S5, a short-measuring-distance correction value calculation method comprises the following steps: selecting target balls K in the target ball set K selected in the step S4 in turn, and making the scanner center coordinate of the target ball be Psk（Xsk ,Ysk, Zsk) And the spherical center coordinate of the total station is Ptk（Xtk ,Ytk, Ztk) Searching a target ball i closest to the height of the current K target balls in the set K, and calculating the Euclidean distance of the scanner coordinates between the target balls K-i
Figure 675866DEST_PATH_IMAGE009
And calculating the Euclidean distance of the coordinates of the total station between the target balls k-i
Figure 550281DEST_PATH_IMAGE010
The short measurement range is corrected to
Figure 723773DEST_PATH_IMAGE011
And multiple pairs of target balls k-i have multiple short-range corrections, and the average value of all the short-range corrections is calculated to be used as the final short-range correction calibration result.
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113359116A (en) * 2021-05-12 2021-09-07 武汉中仪物联技术股份有限公司 Relative calibration method, system, device, equipment and medium of range radar
CN113671468A (en) * 2021-08-17 2021-11-19 北京波谱华光科技有限公司 Laser ranging precision calibration method and system
CN114894094A (en) * 2022-07-14 2022-08-12 青岛环海海洋工程勘察研究院有限责任公司 Laser scanner index evaluation method for spatial multi-target layout
CN115900755A (en) * 2022-08-30 2023-04-04 中国科学院上海天文台 Target pointing automatic correction method and target for realizing same

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CN107782240A (en) * 2017-09-27 2018-03-09 首都师范大学 A kind of two dimensional laser scanning instrument scaling method, system and device
CN108824816A (en) * 2018-05-31 2018-11-16 浙江大学 A kind of big inter-network frame sliding location and installation in high-altitude and monitoring method
CN110686595A (en) * 2019-09-27 2020-01-14 天津大学 Laser beam space pose calibration method of non-orthogonal axis system laser total station
DE102019111531B3 (en) * 2019-05-03 2020-10-22 Trimble Jena Gmbh Surveying instrument and mirror arrangement

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Publication number Priority date Publication date Assignee Title
CN107782240A (en) * 2017-09-27 2018-03-09 首都师范大学 A kind of two dimensional laser scanning instrument scaling method, system and device
CN108824816A (en) * 2018-05-31 2018-11-16 浙江大学 A kind of big inter-network frame sliding location and installation in high-altitude and monitoring method
DE102019111531B3 (en) * 2019-05-03 2020-10-22 Trimble Jena Gmbh Surveying instrument and mirror arrangement
CN110686595A (en) * 2019-09-27 2020-01-14 天津大学 Laser beam space pose calibration method of non-orthogonal axis system laser total station

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113359116A (en) * 2021-05-12 2021-09-07 武汉中仪物联技术股份有限公司 Relative calibration method, system, device, equipment and medium of range radar
CN113359116B (en) * 2021-05-12 2023-09-12 武汉中仪物联技术股份有限公司 Method, system, device, equipment and medium for relative calibration of range radar
CN113671468A (en) * 2021-08-17 2021-11-19 北京波谱华光科技有限公司 Laser ranging precision calibration method and system
CN114894094A (en) * 2022-07-14 2022-08-12 青岛环海海洋工程勘察研究院有限责任公司 Laser scanner index evaluation method for spatial multi-target layout
CN114894094B (en) * 2022-07-14 2022-09-23 青岛环海海洋工程勘察研究院有限责任公司 Laser scanner index evaluation method for spatial multi-target layout
CN115900755A (en) * 2022-08-30 2023-04-04 中国科学院上海天文台 Target pointing automatic correction method and target for realizing same
CN115900755B (en) * 2022-08-30 2024-04-02 中国科学院上海天文台 Target pointing automatic correction method and target for realizing same

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