CN114485592B - Method for ensuring three-dimensional point cloud coordinate conversion precision of drainage box culvert - Google Patents
Method for ensuring three-dimensional point cloud coordinate conversion precision of drainage box culvert Download PDFInfo
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- CN114485592B CN114485592B CN202210185063.3A CN202210185063A CN114485592B CN 114485592 B CN114485592 B CN 114485592B CN 202210185063 A CN202210185063 A CN 202210185063A CN 114485592 B CN114485592 B CN 114485592B
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- 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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Abstract
The invention discloses a method for ensuring three-dimensional point cloud coordinate conversion precision of a drainage box culvert, which comprises six steps of dividing the box culvert, respectively setting an inner culvert positioning target and an outer culvert positioning target, acquiring inner culvert point cloud data and outer culvert point cloud data, establishing a connection, acquiring three-dimensional coordinates of the positioning target under a national geodetic coordinate system, extracting the three-dimensional coordinates of the positioning target under a scanning coordinate system and corresponding to the three-dimensional coordinates of the positioning target under the national geodetic coordinate system one by one, and jointly converting the inner culvert point cloud data and the outer culvert point cloud data.
Description
Technical Field
The invention belongs to the technical field of three-dimensional laser scanning measurement in the technical field of underground space civil engineering, and particularly relates to a method for ensuring three-dimensional point cloud coordinate conversion precision of a drainage box culvert.
Background
The drainage box culvert is one kind of urban underground drainage pipeline and belongs to closed or semi-closed limited space. The culvert for drainage, which is built by reinforced concrete box shape, consists of one or more square or rectangular sections, the span of a single box culvert is not more than 4m, and an inspection well is arranged on the ground. When the three-dimensional laser scanning technical means is adopted to scan and measure the box culvert, the difficulty of measuring and positioning the culvert target is high because of complex environment and limited by implementation conditions, the existing coordinate transfer target device special for underground culvert laser scanning is generally used, and the device is adopted to realize the connection and positioning measurement of the ground and underground positioning target through the existing inspection well or a wellhead (called artificial opening for short) which is chiseled for project implementation. The three-dimensional coordinate conversion is to convert box culvert point cloud coordinates under a scanning coordinate system into box culvert point cloud coordinates under a national geodetic coordinate system by utilizing a certain number of positioning target control points.
However, the drainage box culvert is long and narrow straight or bent linear, the measurement positioning target point layout is correspondingly linear with smaller straight or bending degree, the linear measurement is a special form different from large-area and block measurement, and in actual production, horizontal side rolling inclination is very easy to occur when three-dimensional point cloud data coordinate transformation is carried out by adopting the linear target point, so that transformation errors are larger or larger. Therefore, a method for solving the problem of the coordinate conversion precision of the three-dimensional point cloud of the linear box culvert by adopting certain measures is needed to ensure the reliability of the coordinate conversion of the three-dimensional point cloud data of the box culvert so as to meet the engineering precision requirement.
Disclosure of Invention
The invention aims to provide a method for ensuring the three-dimensional point cloud coordinate conversion precision of a drainage box culvert, and solves the problem that the existing linear three-dimensional point cloud coordinate conversion error is large or wrong. The user can smoothly realize the conversion of the three-dimensional laser point cloud from the scanning coordinate system to the national geodetic coordinate system, and the coordinate conversion precision of the box culvert three-dimensional point cloud is ensured.
The technical scheme adopted by the invention is a method for ensuring the three-dimensional point cloud coordinate conversion precision of a drainage box culvert, which comprises the following steps:
step 1, dividing a drainage box culvert into a plurality of small sections according to the distribution condition and the quantity of various openings on the ground of the box culvert;
step 2, setting an inner inclusion positioning target and an outer inclusion positioning target respectively;
step 3, acquiring inner point cloud data and outer point cloud data of each section of box culvert by using a three-dimensional laser scanner, and establishing a connection, wherein the inner point cloud data and the outer point cloud data are crossed and perpendicular;
step 4, obtaining the three-dimensional coordinates of the positioning target under a national geodetic coordinate system;
step 5, extracting three-dimensional coordinates of the positioning target under a scanning coordinate system, and corresponding to the three-dimensional coordinates of the positioning target under a national geodetic coordinate system one by one;
and 6, jointly converting the culvert point cloud data and the culvert point cloud data.
Preferably, in the step 1, the length of each section of box culvert is not more than 500m, the number of the openings is not less than 4, and the openings are uniformly distributed and have a spacing not more than 100m; when the number and the spacing of the existing openings do not meet the conditions, manual openings can be cut at places with conditional ground above the box culvert.
Preferably, the positioning target in the step 2 is vertical to the vertical inner wall of the culvert.
Preferably, in the step 3, when the distribution of each section of box culvert inspection shaft or the artificial openings is uniform and the number reaches 3 or more than 3, the places of the openings at the middle section of the box culvert are selected for extraculvert scanning, and the extraculvert point cloud data are in a cross shape.
Preferably, in the step 3, when the distribution of each section of box culvert inspection shaft or the artificial openings is uneven and the number is 2, the places near the openings at the two ends of the box culvert are selected to respectively perform the extraculvert scanning, and the extraculvert point cloud data form a shape of .
Preferably, the culvert point cloud in the step 3 takes the inspection well or the manual opening as a midpoint to be in a strip shape, and the single-side scanning length is not less than 150m; the culvert external positioning targets are distributed on the strips on two sides of the midpoint as symmetrically as possible, and the number of the positioning targets on each strip is not less than 2.
Preferably, the step 4 uses a total station or a GNSS.
Preferably, the step 6 specifically includes: and solving the rotation parameters and the translation parameters to finish the three-dimensional point cloud coordinate conversion work.
Preferably, the intrabody and extrabody localization targets involved in parameter solving cannot be on the same plane or on a straight line.
The invention has the beneficial effects that:
1. the problem of large error or error caused by horizontal roll inclination of linear point cloud coordinate conversion is effectively solved, a small angle of linearization rotation angle is avoided, correlation among rotation matrix elements is considered, and drainage obscuration three-dimensional point cloud coordinate conversion accuracy is ensured.
2. The method has the advantages of high precision, strong stability, wide applicability and the like.
3. The positioning targets are reasonably distributed by adopting the cross shape or the shape, the inner angles of the triangles are close to each other, a large plane is formed, and the structural stability is better.
Drawings
FIG. 1 is a schematic diagram of the establishment of links between culverts and culverts in an embodiment of the invention;
FIG. 2 is a cross-shaped schematic diagram of the in-culvert and out-culvert point cloud data in an embodiment of the invention;
FIG. 3 is a schematic diagram of the "" character of the cloud data of the points inside and outside the culvert in the embodiment of the invention;
FIG. 4 is a schematic diagram of a positioning target arrangement for a cross-shaped approach in an embodiment of the invention;
fig. 5 is a schematic diagram of a positioning target arrangement for a "" style of arrangement in an embodiment of the invention.
Detailed Description
The present invention will now be described in detail with reference to fig. 1 to 5 by way of preferred embodiments in conjunction with the drawings.
The invention discloses a method for ensuring the three-dimensional point cloud coordinate conversion precision of a drainage box culvert, which comprises the following steps:
step 1, dividing the drainage box culvert into a plurality of small sections according to the distribution condition and the quantity of various openings on the ground of the box culvert, wherein the length of each section of box culvert is not more than 500m, the quantity of the openings is not less than 4, the openings are preferably uniformly distributed, the distance is not more than 100m, and when the quantity and the distance of the openings do not meet the conditions, manual openings can be cut in places with conditional ground right above the box culvert. The method comprises the steps of carrying out a first treatment on the surface of the
Step 2, respectively setting up and including the location target and including outer location target: the inclusion positioning target is erected on the ground, the positioning target plane extends into the inclusion through an inspection well or an artificial opening, and the positioning target plane extending into the inclusion is vertical to the vertical inner wall of the inclusion; the extraculvert positioning targets are arranged according to the scanning area;
step 3, acquiring and establishing a connection between inner point cloud data and outer point cloud data of each section of box culvert by using a three-dimensional laser scanner, wherein the inner point cloud data and the outer point cloud data are crossed and perpendicular to each other to form a cross shape or a shape, the outer point cloud takes an inspection well or a manual opening as a midpoint to be in a strip shape, and the scanning length of a single side is not less than 150m; the culvert external positioning targets are distributed on the strips on two sides of the midpoint as symmetrically as possible, and the number of the positioning targets on each strip is not less than 2;
step 4, acquiring three-dimensional coordinates of the positioning target under a national geodetic coordinate system by adopting a total station or a GNSS;
step 5, extracting three-dimensional coordinates of the positioning target under a scanning coordinate system and corresponding to the three-dimensional coordinates of the positioning target in a national geodetic coordinate system one by one;
step 6, the intra-culvert point cloud data and the extra-culvert point cloud data are jointly converted: and (3) solving rotation parameters and translation parameters, and completing three-dimensional point cloud coordinate conversion work, wherein the inclusion positioning targets and the inclusion external positioning targets participating in parameter solving cannot be on the same plane or on a straight line.
In step 3, the culvert positioning target of the invention adopts an existing coordinate transfer target device for underground culvert laser scanning, the device adopts hard connection, the geometric center of ground coordinate acquisition and the center of the culvert positioning target are ensured to be vertical through circular bubbles and tube bubbles (adjustment centering) on a horizontal regulator, and meanwhile, the coordinate joint measurement is carried out by using different measuring means under different environments, so that the accuracy of coordinate transfer is ensured. And the scanning is carried out on the ground in the culvert and the ground outside the culvert simultaneously, the in-culvert scanner is erected under the inspection well or the manual opening, and the out-culvert scanner is erected within a range of 1m from the inspection well or the manual opening. And the remote site adjacent to the inspection well or the manual opening can acquire the point cloud data of the coordinate transfer target device for underground obscuration laser scanning during scanning.
Regarding the case where the in-culvert point cloud data and the out-culvert point cloud data form a cross or shape:
when the distribution of each section of box culvert inspection shaft or artificial openings is uniform and the number of the box culvert inspection shafts or artificial openings is 3 or more, selecting the places with the openings at the middle sections of the box culverts to perform extraculvert scanning, wherein the cloud data of the culvert points and the cloud data of the extraculvert points form a cross shape;
when each section of box culvert inspection shaft or artificial openings are unevenly distributed and the number is 2, the places near the openings at the two ends of the box culvert are selected to respectively perform extraculvert scanning, and the cloud data of the culvert points form a shape of .
The advantages of the cross shape or shape are: the problem that the linear box culvert positioning targets form an approximate straight line or a large obtuse triangle is poor in stability is solved, the positioning targets are reasonably distributed by adopting a cross shape or a shape, the inner angles of the triangle are close to each other and form a large plane, the structural stability is better, the ground and underground data are combined, and the coordinate conversion precision of the point cloud data is ensured.
The invention effectively solves the problem of large error or error caused by horizontal rolling and tilting of linear point cloud coordinate conversion, avoids small angle of linearization rotation angle, considers correlation among rotation matrix elements, ensures the three-dimensional point cloud coordinate conversion precision of drainage obscurence, and has the advantages of high precision, strong stability, wide applicability and the like.
Claims (7)
1. The method for ensuring the three-dimensional point cloud coordinate conversion precision of the drainage box culvert is characterized by comprising the following steps of:
step 1, dividing a drainage box culvert into a plurality of small sections according to the distribution condition and the quantity of various openings on the ground of the box culvert;
step 2, setting an inner inclusion positioning target and an outer inclusion positioning target respectively;
step 3, acquiring inner point cloud data and outer point cloud data of each section of box culvert by using a three-dimensional laser scanner, establishing a connection, wherein the inner point cloud data and the outer point cloud data are crossed and perpendicular, and the outer point cloud takes an inspection well or a manual opening as a midpoint to form a strip shape;
step 4, obtaining the three-dimensional coordinates of the positioning target under a national geodetic coordinate system;
step 5, extracting three-dimensional coordinates of the positioning target under a scanning coordinate system, and corresponding to the three-dimensional coordinates of the positioning target under a national geodetic coordinate system one by one;
step 6, the intra-culvert point cloud data and the extra-culvert point cloud data are jointly converted;
in the step 3, when the distribution of each section of box culvert inspection shaft or artificial openings is uniform and the number of the box culvert inspection shafts or artificial openings is more than 3 and 3, selecting the places with the openings at the middle sections of the box culverts to perform extraculvert scanning, wherein the extraculvert point cloud data and the extraculvert point cloud data form a cross shape; when each section of box culvert inspection shaft or artificial openings are unevenly distributed and the number is 2, the places near the openings at the two ends of the box culvert are selected to respectively perform extraculvert scanning, and the cloud data of the culvert points form a shape of .
2. The method for ensuring the three-dimensional point cloud coordinate conversion precision of the drainage box culvert according to claim 1, wherein the length of each section of box culvert in the step 1 is not more than 500m, the number of openings is not less than 4, the openings are uniformly distributed, and the distance is not more than 100m; when the number and the spacing of the existing openings do not meet the conditions, manual openings can be cut at places with conditional ground above the box culvert.
3. The method for ensuring the three-dimensional point cloud coordinate conversion precision of the drainage box culvert according to claim 1, wherein the positioning target in the step 2 is vertical to the vertical inner wall of the culvert.
4. The method for ensuring the three-dimensional point cloud coordinate transformation accuracy of the drainage box culvert according to claim 1, wherein in the step 3, the single-side scanning length is not less than 150m; the culvert external positioning targets are distributed on the strips on two sides of the midpoint as symmetrically as possible, and the number of the positioning targets on each strip is not less than 2.
5. The method for ensuring the three-dimensional point cloud coordinate transformation accuracy of the drainage box culvert according to claim 1, wherein the step 4 adopts a total station or a GNSS.
6. The method for ensuring the three-dimensional point cloud coordinate conversion precision of the drainage box culvert according to claim 1, wherein the step 6 is specifically: and solving the rotation parameters and the translation parameters to finish the three-dimensional point cloud coordinate conversion work.
7. The method for ensuring the three-dimensional point cloud coordinate conversion accuracy of the drainage box culvert according to claim 6, wherein the culvert inner positioning target and the culvert outer positioning target participating in parameter solving cannot be on the same plane or on a straight line.
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