CN116182810A - Digital mapping system and method for airport pavement engineering - Google Patents
Digital mapping system and method for airport pavement engineering Download PDFInfo
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- CN116182810A CN116182810A CN202211582028.1A CN202211582028A CN116182810A CN 116182810 A CN116182810 A CN 116182810A CN 202211582028 A CN202211582028 A CN 202211582028A CN 116182810 A CN116182810 A CN 116182810A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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Abstract
The invention provides a digital mapping system and method for airport pavement engineering, wherein the system comprises: a three-dimensional laser scanner and a data processing terminal; the target ball group is arranged between two adjacent measuring points and used as a common point to provide point cloud registration points for the point cloud data processing module; the laser mapping device measures distance information and angle information to the surface of the object and sends the measured distance information and angle information to the data processing terminal; positioning the three-dimensional laser scanner and sending positioning information to a data processing terminal; and (3) establishing point clouds, converting the acquired distance information, angle information and positioning information into measuring station cloud data, splicing adjacent measuring station clouds based on the set of erected target balls, and carrying out three-dimensional analysis by utilizing the established point clouds based on point cloud modeling and point cloud analysis to obtain airport pavement mapping data. The system can realize rapid and accurate collection and storage of airport pavement data, and enhances the digitization degree of mapping.
Description
Technical Field
The invention relates to the technical field of airport pavement engineering construction measurement, in particular to a digital mapping system and method for airport pavement engineering.
Background
In the airport construction link, the pavement construction occupies an important part, in the airport pavement engineering, the pavement of an airport runway comprises a water stable base layer, an asphalt sealing layer and a concrete surface layer, the airport pavement has lamellar characteristics, and the quality of the airport pavement influences the taking-off and landing safety of an airplane, so that the pavement needs to be accurately measured in detail so as to ensure that the pavement can meet the normal use requirements.
According to specific regulations, the road panel angle elevation, the panel thickness and the panel thickness need to be measured. Conventional measuring methods typically make use of optical measuring instruments, such as level gauges, total stations, for road surface measurements.
The existing optical measurement has the following problems:
(1) The measuring steps are complicated, and the measuring efficiency is low. By adopting an optical measurement method, a plurality of measurement control points are firstly required to be distributed in a measuring area according to the characteristics of the measuring area, and in the measurement process, targets such as a leveling rod, an optical prism and the like are required to be erected in sequence at a place to be measured for round trip measurement. For pavement slab, due to the large number of required measuring personnel, at least 3 people are required, and the field measurement time is too long.
(2) Is easy to receive the interference of artificial and external conditions.
In the traditional optical measurement method, the target object is required to be manually aligned, the numerical value of the instrument is read, the mapping experience of each person is influenced, and the measurement result is easily influenced by the condition of the human experience; in addition, the optical measurement method needs illumination conditions, and when the illumination conditions are insufficient, the measurement result is greatly disturbed and even cannot be measured.
(3) The measuring cost is high, and the cost control is not facilitated.
The traditional leveling method is used, the required operators are at least 3 persons, and for airport flight zone pavement engineering, the pavement is too long, a large amount of time is required to be spent by adopting the traditional optical mapping method, and the investment cost of the operators is increased along with the time.
(4) The acquired data is difficult to preserve and manage.
The data acquired by the optical mapping method is often single-point plane data, the data processing process is complex, the compatibility between the processing result and other software is poor, and the data visualization is difficult to realize.
Disclosure of Invention
The invention provides a digital mapping system for airport pavement engineering, which can reduce human participation and reduce deviation caused by manual operation. The system can complete data collection through a three-dimensional laser scanner by a single person, and the data processing terminal machine performs data analysis and processing to obtain the mapping result of the airport pavement, so that the mapping precision is improved.
The system comprises: a three-dimensional laser scanner and a data processing terminal;
the data processing terminal is configured with a point cloud data processing module;
the three-dimensional laser scanner includes: the laser ranging device, GNSS positioning antenna and target ball group;
the target ball group is arranged between two adjacent measuring points and used as a common point to provide point cloud registration points for the point cloud data processing module;
the laser mapping device measures distance information and angle information to the surface of the object and sends the measured distance information and angle information to the data processing terminal;
the GNSS positioning antenna is used for positioning the three-dimensional laser scanner and sending positioning information to the data processing terminal;
the point cloud data processing module is used for establishing point cloud, converting the acquired distance information, angle information and positioning information into station cloud data, splicing adjacent station clouds based on the erected target ball group, and carrying out three-dimensional analysis by utilizing the established point cloud to obtain airport pavement mapping data based on point cloud modeling and point cloud analysis.
It should be further noted that the three-dimensional laser scanner further includes: the base is rotationally connected with a turntable which is connected with a motor;
the laser mapping device is arranged on the rotary table, and the rotary table is driven to rotate through a motor to drive the laser mapping device to carry out 360-degree rotary mapping.
It should be further noted that, the mapping data of the three-dimensional laser scanner includes: the laser surveying and mapping device emits laser to the returning time delta t, the distance information S from the laser surveying and mapping device to the surface of the object, the pitching angle theta of the laser surveying and mapping device and the included angle alpha of the laser surveying and mapping device and the horizontal center line;
the three-dimensional coordinates of the points are calculated based on the mapping data by:
x＝cosθcosa
y＝cosθsinα
z＝sinθ
where C is the speed of light and Δt is the round trip time of the laser.
It should be further noted that the three-dimensional laser scanner further includes: touching the display screen;
the touch display screen is used for acquiring the scanning parameter information of the laser mapping device set by a user, displaying laser ranging emission data, laser acquisition data, rotation angle data during rotary mapping and positioning information.
It should be further noted that the point cloud data processing module includes: the device comprises a point cloud importing unit, a point cloud registering unit, a point cloud denoising unit and a point cloud coordinate converting unit;
the point cloud importing unit is used for importing the point cloud data acquired by the three-dimensional laser scanner and analyzing the measurement data;
the point cloud registration unit is used for configuring adjacent station cloud registration work after the station cloud is introduced, realizing that two adjacent station clouds are spliced into a whole according to the target ball erected on site, and extracting the position information of the target ball to perform registration splicing work;
the point cloud denoising unit is used for identifying the road surface part information, removing the point cloud exceeding a specified distance for small-area noise points except the road surface part information by using a fitting tool, and realizing the denoising operation of the point cloud;
the point cloud coordinate conversion unit is used for collecting point cloud coordinates as instrument relative coordinates, analyzing airport runway elevation information, converting the collected point cloud into measurement coordinates, completing station setting, defining the position and direction of each station, and then carrying out adjustment on all stations by using a least square method, so that the position of the whole point cloud is fixed.
The point cloud data processing module is further used for detecting the plate size, plate elevation and plate corner elevation of the airport pavement;
and responding to an airport pavement planeness analysis instruction of a user, creating a fitting plane, displaying the difference of pavement slab to the fitting plane, and analyzing the planeness of the slab.
It should be further noted that the point cloud data processing module further includes: a full-automatic modeling mode and a manual modeling mode;
the full-automatic modeling mode is based on a preset algorithm and a modeling mode, acquires measured data and calculated data of the three-dimensional laser scanner, automatically executes the digital mapping process of the airport pavement engineering, and outputs mapping results;
the manual modeling mode is based on user operation to acquire measured data and calculated data of the three-dimensional laser scanner, and the manual control of the user is used for carrying out the digital mapping process of airport pavement engineering and outputting mapping results.
It should be further noted that, the point cloud data processing module is further configured to convert the point cloud data obtained by the three-dimensional laser measurement into a las data format or an xyz data format.
The invention also provides a digital mapping method for airport pavement engineering, which comprises the following steps:
the target ball group is arranged between two adjacent measuring points to serve as a common point, and point cloud registration points are provided for a point cloud data processing module;
the laser mapping device measures distance information and angle information to the surface of the object and sends the measured distance information and angle information to the data processing terminal;
the GNSS positioning antenna is used for positioning the three-dimensional laser scanner and sending positioning information to the data processing terminal;
the method comprises the steps that a point cloud data processing module of a data processing terminal establishes point clouds, the acquired distance information, angle information and positioning information are converted into station cloud data, adjacent station clouds are spliced based on an established target ball group, and three-dimensional analysis is carried out by utilizing the established point clouds based on point cloud modeling and point cloud analysis to obtain airport pavement mapping data.
It should be further noted that the method further includes:
the three-dimensional coordinates of the points are calculated based on the mapping data by:
x＝Scosθcosa
y＝Scosθsinα
z＝Ssinθ
wherein C is the speed of light, Δt is the round trip time of the laser;
Δt is the time from the laser emission to the return, S is the distance information from the laser mapping device to the object surface, θ is the pitch angle of the laser mapping device, and α is the angle between the laser mapping device and the horizontal center line.
From the above technical scheme, the invention has the following advantages:
the invention can realize the rapid and accurate collection and storage of airport pavement data through the airport pavement engineering digital mapping system, thereby enhancing the digital degree of mapping. The invention also avoids the rough condition caused by insufficient experience of field measurement personnel, and improves the accuracy of data acquisition; the three-dimensional laser measurement system is not affected by light conditions, and can realize all-weather and non-navigation construction; the collected data are registered, denoised and the like by using software, so that the operation is simple and convenient, and the degree of automation is high; the generated point cloud data can be converted into other various data formats, and is compatible with other software, so that the data compatibility is high; the total processing personnel requirement is far less than that of the traditional optical measurement method, the required time is short, and the measurement cost is greatly saved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention, the drawings that are needed in the description will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an airport pavement engineering digital mapping system;
FIG. 2 is a schematic diagram of an embodiment of a digital mapping system for airport pavement engineering;
FIG. 3 is a schematic diagram of a three-dimensional laser measurement embodiment;
FIG. 4 is a flow chart of a method for digitally mapping airport pavement projects.
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. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a digital mapping system for airport pavement engineering, as shown in figures 1 and 2, comprising: a three-dimensional laser scanner and a data processing terminal;
the data processing terminal is configured with a point cloud data processing module; the data processing terminal is also provided with a network interface, a storage, a mouse and a keyboard, a display and the like according to the requirements.
The data processing terminal may be any electronic product that can interact with a user, such as a personal computer, a tablet, a smart phone, a personal digital assistant (Personal Digital Assistant, PDA), an interactive web tv (Internet Protocol Television, IPTV), a smart wearable device, etc.
Point cloud data processing modules include, but are not limited to, microprocessors, application specific integrated circuits (Application Specific Integrated Circuit, ASICs), programmable gate arrays (Field-Programmable Gate Array, FPGAs), digital processors (Digital Signal Processor, DSPs), embedded devices, and the like.
The storage stores software technologies including computer perspective technology, speech processing technology, natural language processing technology, machine learning/deep learning, etc.
The point cloud data processing module can execute software stored in the storage, such as Trimble Realworks point cloud processing software, to realize the digital mapping method of the airport pavement engineering.
In an embodiment of the present invention, a three-dimensional laser scanner includes: the device comprises a laser ranging device, a GNSS positioning antenna, a touch display screen and a target ball group;
the touch display screen is used for acquiring the scanning parameter information of the laser mapping device set by a user, displaying laser ranging emission data, laser acquisition data, rotation angle data during rotary mapping and positioning information.
The target ball set includes a plurality of target balls.
The target balls with certain data are selected according to the requirement, and are arranged between two adjacent measuring points to serve as common points, so that point cloud registration points are provided for a point cloud data processing module;
the laser surveying and mapping device measures distance information and angle information to the surface of the object, the measured distance information and angle information are sent to the data processing terminal, and the point cloud data processing module realizes digital surveying and mapping of airport pavement engineering through corresponding software.
The GNSS positioning antenna is used for positioning the three-dimensional laser scanner and sending positioning information to the data processing terminal;
to facilitate three-dimensional laser scanning, the three-dimensional laser scanner further comprises: the base is rotationally connected with a turntable which is connected with a motor; the laser mapping device is arranged on the rotary table, and the rotary table is driven to rotate through a motor to drive the laser mapping device to carry out 360-degree rotary mapping.
The method comprises the steps that based on data information mapped on site by a three-dimensional laser scanner, a point cloud data processing module establishes point clouds, acquired distance information, angle information and positioning information are converted into station cloud data, adjacent station clouds are spliced based on an erected target ball group, based on point cloud modeling and point cloud analysis, and three-dimensional analysis is conducted by utilizing the established point clouds to obtain airport pavement mapping data.
For one embodiment of the invention, the point cloud data processing module adopts Trimble Realworks point cloud processing software to realize the operations of importing, registering and denoising of the point cloud.
The user can import common three-dimensional laser scanning data, such as fls files, so that the relative position of each measuring station can be displayed. After the point cloud data processing module acquires the point cloud data, the station cloud is automatically established for each station according to the set resolution, and the registration and denoising work of the point cloud can be continued.
Specifically, the point cloud data processing module includes: the device comprises a point cloud importing unit, a point cloud registering unit, a point cloud denoising unit and a point cloud coordinate converting unit;
the point cloud importing unit is used for importing the point cloud data acquired by the three-dimensional laser scanner and analyzing the measurement data;
the measurement data may include: the measured distance information and angle information can be related to positioning information of the GNSS positioning antenna on the three-dimensional laser scanner, and the point cloud registration point location information is provided for the point cloud data processing module by the target ball group. Of course, the corresponding information to be configured can also be based on the actual measurement needs.
The point cloud registration unit is used for configuring adjacent station cloud registration work after the station cloud is introduced, realizing that two adjacent station clouds are spliced into a whole according to the target ball erected on site, and extracting the position information of the target ball to perform registration splicing operation;
the invention comprises a full-automatic registration method and a target-based registration method. And selecting a reference measuring station by using a registration method based on a target, and marking the position of a target ball in the target to finish the registration work of the point cloud.
The point cloud denoising unit is used for identifying the road surface part information, removing the point cloud exceeding a specified distance for small-area noise points except the road surface part information by using a fitting tool, and realizing the denoising operation of the point cloud;
the main functions of the drying process are as follows: because the noise points exist in the collected point cloud data due to the interference of weeds, winged insects, workers and vehicles around the runway in the field and the analysis precision of the subsequent road surface of the image, the point cloud needs to be subjected to denoising work, large-area noise points such as surrounding people, vehicles and the like are removed, and the road surface part can be separated by software; for noise points of small area, a best fit tool can be used to fit a plane and remove point clouds beyond a specified distance. And denoising operation of the point cloud is realized.
The de-drying algorithm can adopt an average filtering algorithm, a poisson distribution and Gaussian distribution superposition algorithm and the like, and the specific algorithm is not limited.
The point cloud coordinate conversion unit is used for collecting point cloud coordinates as instrument relative coordinates, analyzing airport runway elevation information, converting the collected point cloud into measurement coordinates, completing station setting, defining the position and direction of each station, and then carrying out adjustment on all stations by using a least square method, so that the position of the whole point cloud is fixed.
Thus, the point cloud is established, the imported point cloud original data can be converted into the point cloud, the point cloud is registered, the adjacent point cloud can be spliced automatically or according to the erected target ball, the point cloud modeling and the point cloud analysis can be performed, and the established high-precision point cloud can be utilized for three-dimensional analysis.
As shown in fig. 3, the mapping data of the three-dimensional laser scanner includes: the laser surveying and mapping device emits laser to the returning time delta t, the distance information S from the laser surveying and mapping device to the surface of the object, the pitching angle theta of the laser surveying and mapping device and the included angle alpha of the laser surveying and mapping device and the horizontal center line;
based on the three-dimensional laser scanning technology principle, when the three-dimensional laser scanner works, the laser surveying and mapping device emits laser to the measured object, the timing system records the time from the emission to the return of the laser, and the angle measuring device captures the horizontal angle and the vertical angle between the three-dimensional laser scanner and the measured object. The instrument is rotated 360 ° by rotating the turret. The measured data of the three-dimensional laser scanner include the time delta t from the laser emission to the return, the distance S, the vertical angle theta and the horizontal angle alpha, and the three-dimensional coordinates of the point can be calculated by the following formula:
x＝cosθcosa
y＝cosθsinα
z＝sinθ
where C is the speed of light and Δt is the round trip time of the laser.
In the invention, a three-dimensional laser scanner and a data processing terminal are connected through wired or wireless communication, and the three-dimensional laser scanner carries out actual measurement on data: the time delta t from the laser emission to the return, the distance S, the vertical angle theta and the horizontal angle alpha, and the calculated corresponding data are sent to the data processing terminal.
The point cloud data processing module is also used for converting the point cloud data acquired by the three-dimensional laser measurement into a las data format or an xyz data format. The data transmitted by the three-dimensional laser scanner may be configured into an image in the las data format, or xyz data format for processing.
The point cloud data processing module in the data processing terminal is also used for detecting the plate size, plate elevation and plate corner elevation of the airport pavement; and responding to an airport pavement planeness analysis instruction of a user, creating a fitting plane, displaying the difference of pavement slab to the fitting plane, and analyzing the planeness of the slab.
The point cloud data processing module is based on the high-precision road surface point cloud and the extracted road surface plate elevation, and can extract data such as the road surface plate elevation, coordinates and the like according to the high-precision point cloud, and other software and design data are used for comparison to obtain the elevation error of the road surface plate.
The following is an embodiment of the digital mapping method for airport pavement engineering provided by the embodiments of the present disclosure, which belongs to the same inventive concept as the digital mapping system for airport pavement engineering of the above embodiments, and details which are not described in detail in the embodiment of the digital mapping method for airport pavement engineering may refer to the embodiment of the digital mapping system for airport pavement engineering.
The method for executing the digital mapping method of the airport pavement engineering comprises a full-automatic modeling mode and a manual modeling mode; corresponding selection keys can be arranged on the data processing terminal machine, so that a user can select and control a full-automatic modeling mode and a manual modeling mode. The specific processing procedure is executed by the point cloud data processing module.
The full-automatic modeling mode is based on a preset algorithm and a modeling mode, acquires measured data and calculated data of the three-dimensional laser scanner, automatically executes the digital mapping process of the airport pavement engineering, and outputs mapping results;
the manual modeling mode is based on user operation to acquire measured data and calculated data of the three-dimensional laser scanner, and the manual control of the user is used for carrying out the digital mapping process of airport pavement engineering and outputting mapping results.
In the case of a fully automatic modeling mode, as shown in FIG. 4, the method includes:
s11, setting a target ball group between two adjacent measuring points as a common point, and providing point cloud registration points for a point cloud data processing module;
s12, the laser mapping device measures distance information and angle information to the surface of the object, and sends the measured distance information and angle information to the data processing terminal;
s13, positioning the three-dimensional laser scanner by the GNSS positioning antenna, and sending positioning information to the data processing terminal;
s14, a point cloud data processing module of the data processing terminal establishes point clouds, converts the acquired distance information, angle information and positioning information into measuring station cloud data, splices adjacent measuring station clouds based on the set of erected target balls, and performs three-dimensional analysis by utilizing the established point clouds to obtain airport pavement mapping data based on point cloud modeling and point cloud analysis.
The three-dimensional coordinates of the points are calculated based on the mapping data by:
x＝cosθcosa
y＝cosθsinα
z＝sinθ
wherein C is the speed of light, Δt is the round trip time of the laser;
Δt is the time from the laser emission to the return, S is the distance information from the laser mapping device to the object surface, θ is the pitch angle of the laser mapping device, and α is the angle between the laser mapping device and the horizontal center line.
In this way, after the method of the invention configures the plurality of site cloud data to the data processing terminal, the site cloud is established, the site cloud can be filtered according to the set maximum distance, and then in the point cloud registration, the target object point cloud registration is carried out according to the target balls laid on site. When the error of the registration result is overlarge, the position of the target ball mark can be adjusted, the precision is further improved, and a uniform road surface point cloud is generated. And the point cloud data processing module extracts corresponding data of the road surface and analyzes the corresponding data by utilizing other software. The method can realize rapid and accurate collection and storage of airport pavement data, and enhances the digitization degree of mapping; meanwhile, the rough condition caused by insufficient experience of field measurement personnel is avoided, and the accuracy of data acquisition is improved.
The elements and algorithm steps of each example described in the embodiments disclosed in the digital mapping system and method for airport pavement engineering provided by the present invention can be implemented in electronic hardware, computer software, or a combination of both, and to clearly illustrate the interchangeability of hardware and software, each example's composition and steps have been generally described in terms of functionality in the foregoing description. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The flowcharts and block diagrams of the airport pavement engineering digital mapping system and method are architecture, functionality, and operation of a three-dimensional laser scanner and data processing terminal implementation in accordance with various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. Two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In the airport pavement engineering digital mapping system and method of the present invention, computer program code for performing the operations of the present disclosure may be written in one or more programming languages, including but not limited to an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or power server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An airport pavement engineering digital mapping system, comprising: a three-dimensional laser scanner and a data processing terminal;
the data processing terminal is configured with a point cloud data processing module;
the three-dimensional laser scanner includes: the laser ranging device, GNSS positioning antenna and target ball group;
the target ball group is arranged between two adjacent measuring points and used as a common point to provide point cloud registration points for the point cloud data processing module;
the laser mapping device measures distance information and angle information to the surface of the object and sends the measured distance information and angle information to the data processing terminal;
the GNSS positioning antenna is used for positioning the three-dimensional laser scanner and sending positioning information to the data processing terminal;
the point cloud data processing module is used for establishing point cloud, converting the acquired distance information, angle information and positioning information into station cloud data, splicing adjacent station clouds based on the erected target ball group, and carrying out three-dimensional analysis by utilizing the established point cloud to obtain airport pavement mapping data based on point cloud modeling and point cloud analysis.
2. The digital mapping system of airport pavement engineering of claim 1,
the three-dimensional laser scanner further includes: the base is rotationally connected with a turntable which is connected with a motor;
the laser mapping device is arranged on the rotary table, and the rotary table is driven to rotate through a motor to drive the laser mapping device to carry out 360-degree rotary mapping.
3. The digital mapping system of airport pavement engineering of claim 1,
the mapping data of the three-dimensional laser scanner includes: the laser surveying and mapping device emits laser to the returning time delta t, the distance information S from the laser surveying and mapping device to the surface of the object, the pitching angle theta of the laser surveying and mapping device and the included angle alpha of the laser surveying and mapping device and the horizontal center line;
the three-dimensional coordinates of the points are calculated based on the mapping data by:
x＝cosθcosa
y＝cosθsinα
z＝sinθ
where C is the speed of light and Δt is the round trip time of the laser.
4. The digital mapping system of airport pavement engineering of claim 2,
the three-dimensional laser scanner further includes: touching the display screen;
the touch display screen is used for acquiring the scanning parameter information of the laser mapping device set by a user, displaying laser ranging emission data, laser acquisition data, rotation angle data during rotary mapping and positioning information.
5. The digital mapping system for airport pavement engineering according to claim 1 or 2, characterized in that,
the point cloud data processing module comprises: the device comprises a point cloud importing unit, a point cloud registering unit, a point cloud denoising unit and a point cloud coordinate converting unit;
the point cloud importing unit is used for importing the point cloud data acquired by the three-dimensional laser scanner and analyzing the measurement data;
the point cloud registration unit is used for configuring adjacent station cloud registration work after the station cloud is introduced, realizing that two adjacent station clouds are spliced into a whole according to the target ball erected on site, and extracting the position information of the target ball to perform registration splicing work;
the point cloud denoising unit is used for identifying the road surface part information, removing the point cloud exceeding a specified distance for small-area noise points except the road surface part information by using a fitting tool, and realizing the denoising operation of the point cloud;
the point cloud coordinate conversion unit is used for collecting point cloud coordinates as instrument relative coordinates, analyzing airport runway elevation information, converting the collected point cloud into measurement coordinates, completing station setting, defining the position and direction of each station, and then carrying out adjustment on all stations by using a least square method, so that the position of the whole point cloud is fixed.
6. The digital mapping system for airport pavement engineering according to claim 1 or 2, characterized in that,
the point cloud data processing module is also used for detecting the plate size, plate elevation and plate corner elevation of the airport pavement;
and responding to an airport pavement planeness analysis instruction of a user, creating a fitting plane, displaying the difference of pavement slab to the fitting plane, and analyzing the planeness of the slab.
7. The digital mapping system for airport pavement engineering according to claim 1 or 2, characterized in that,
the point cloud data processing module further comprises: a full-automatic modeling mode and a manual modeling mode;
the full-automatic modeling mode is based on a preset algorithm and a modeling mode, acquires measured data and calculated data of the three-dimensional laser scanner, automatically executes the digital mapping process of the airport pavement engineering, and outputs mapping results;
the manual modeling mode is based on user operation to acquire measured data and calculated data of the three-dimensional laser scanner, and the manual control of the user is used for carrying out the digital mapping process of airport pavement engineering and outputting mapping results.
8. The digital mapping system for airport pavement engineering according to claim 1 or 2, characterized in that,
the point cloud data processing module is also used for converting the point cloud data acquired by the three-dimensional laser measurement into a las data format or an xyz data format.
9. A method for digitally mapping an airport pavement project, characterized in that the method adopts the digital mapping system for the airport pavement project according to any one of claims 1 to 8;
the method comprises the following steps:
the target ball group is arranged between two adjacent measuring points to serve as a common point, and point cloud registration points are provided for a point cloud data processing module;
the laser mapping device measures distance information and angle information to the surface of the object and sends the measured distance information and angle information to the data processing terminal;
the GNSS positioning antenna is used for positioning the three-dimensional laser scanner and sending positioning information to the data processing terminal;
the method comprises the steps that a point cloud data processing module of a data processing terminal establishes point clouds, the acquired distance information, angle information and positioning information are converted into station cloud data, adjacent station clouds are spliced based on an established target ball group, and three-dimensional analysis is carried out by utilizing the established point clouds based on point cloud modeling and point cloud analysis to obtain airport pavement mapping data.
10. The method of digitized mapping of airport pavement engineering of claim 9, wherein the method further comprises:
the three-dimensional coordinates of the points are calculated based on the mapping data by:
x＝cosθcosa
y＝cosθsinα
z＝sinθ
wherein C is the speed of light, Δt is the round trip time of the laser;
Δt is the time from the laser emission to the return, S is the distance information from the laser mapping device to the object surface, θ is the pitch angle of the laser mapping device, and α is the angle between the laser mapping device and the horizontal center line.
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