CN116295310A - Ground laser radar measuring instrument and method based on GNSS positioning - Google Patents
Ground laser radar measuring instrument and method based on GNSS positioning Download PDFInfo
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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
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
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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
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
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Abstract
The invention discloses a ground laser radar measuring instrument and a ground laser radar measuring method based on GNSS positioning, wherein the instrument comprises a laser radar measuring module (1), a GNSS measuring module (2), a centering rod (3), a centering rod and handbook connecting device (4), a measuring handbook (5) and a leveling bubble (6), the laser radar measuring module (1) is arranged at the top of the instrument, the upper end of the GNSS measuring module (2) is connected with the laser radar measuring module (1), the lower end of the GNSS measuring module is connected with the centering rod (3), the measuring handbook (5) is fixed on the centering rod (3) through the centering rod and handbook connecting device (4), and the leveling bubble (6) is fixed on the GNSS measuring module (2). The invention solves the problems that the no-fly zone can not adopt the airborne laser radar to measure the land arrangement height Cheng Wenti and the measurement efficiency of the conventional ground three-dimensional laser scanner is low.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a ground laser radar measuring instrument and method based on GNSS positioning.
Background
The three-dimensional laser scanning technology is a new technology which appears in recent years, and by utilizing the principle of laser ranging, the three-dimensional model of a measured object and various drawing data such as lines, planes, bodies and the like can be quickly reconstructed by recording the information such as three-dimensional coordinates, reflectivity, textures and the like of a large number of dense points on the surface of the measured object. Since three-dimensional laser scanning systems can densely acquire a large number of data points of a target object, three-dimensional laser scanning techniques are also referred to as revolutionary technological breakthroughs from single point measurement to surface measurement, as opposed to conventional single point measurement. The technology has many attempts, applications and exploration in the fields of cultural relic ancient site protection, construction, planning, civil engineering, factory transformation, indoor design, building monitoring, traffic accident handling, legal evidence collection, disaster assessment, ship design, digital city, military analysis and the like. The three-dimensional laser scanning system comprises a hardware part for data acquisition and a software part for data processing. According to different carriers, three-dimensional laser scanning systems can be divided into airborne, vehicle-mounted, ground and hand-held types. In the aspect of land arrangement measurement application, the filling and excavation engineering quantity needs to be calculated by collecting very dense elevation points, and the elevation points are measured by combining airborne GNSS positioning and laser radar at present, so that the efficiency is high and the method is not affected by weather, but cannot be used in the face of no-fly zones. By adopting a conventional three-dimensional laser scanner, the measurement precision is high through operations such as erecting an instrument, centering, leveling, measuring, station changing and the like, but the measurement efficiency is low, the point density is low, and a large amount of manpower and material resources are required to be consumed.
Disclosure of Invention
Aiming at the defects in the prior art, the ground laser radar measuring instrument and the ground laser radar measuring method based on GNSS positioning solve the problems that an on-board GNSS positioning combined laser radar measurement is incapable of being used in a no-fly zone, and a conventional three-dimensional laser scanner is low in measuring efficiency, low in point location density and large in manpower and material resources are consumed.
In order to achieve the aim of the invention, the invention adopts the following technical scheme: the utility model provides a ground laser radar measuring instrument based on GNSS location, the instrument includes laser radar measuring module, GNSS measuring module, centering rod and album connecting device, measures album and level bubble, laser radar measuring module arranges instrument top in, GNSS measuring module upper end is connected with laser radar measuring module, and its lower extreme is connected with centering rod, the measurement album is fixed on centering rod through centering rod and album connecting device, the level bubble is fixed on GNSS measuring module.
The beneficial effect of above-mentioned scheme is: through the technical scheme, the ground laser radar measuring instrument based on GNSS rapid measurement is provided, and the problems that an airborne GNSS positioning combined laser radar measurement is incapable of being used in a no-fly zone, and a conventional three-dimensional laser scanner is low in measuring efficiency, low in point location density and large in manpower and material resources are consumed are solved.
Further, the lidar measurement module includes a mapping camera, a GNSS positioning unit, and an INS inertial navigation system.
The beneficial effects of the above-mentioned further scheme are: the mapping camera is used for shooting and recording the current site, so that the false elevation points on trees and weeds can be removed through post-processing, the GNSS positioning unit is used for positioning the current site, and the INS inertial navigation system is used for acquiring the vertical scanning angle and the horizontal scanning angle of laser pulses.
In addition, the invention adopts the following technical scheme: a ground laser radar measurement method based on GNSS positioning, which is applied to a ground laser radar measurement instrument based on GNSS positioning, the method comprises the following steps:
s1: completing project setting, coordinate system setting and central meridian setting by using a measurement handbook;
s2: centering the centering rod with the measurement ground point to center the level bubble, and recording the instrument height through the scale mark of the centering rod;
s3: measuring a ground single-point three-dimensional coordinate according to the instrument height by using a GNSS measurement module;
s4: and measuring the three-dimensional coordinates of the ground point cloud according to the instrument height by using the GNSS measuring module and the laser radar measuring module.
The beneficial effect of above-mentioned scheme is: through the technical scheme, the GNSS measurement module can be used for independently measuring the coordinates of the ground points, and the GNSS measurement module and the laser radar measurement module can also be used for measuring the three-dimensional coordinates of the ground point cloud.
Further, in S3, the instrument height is input into a measurement handbook to be measured in a clicking mode, and measurement of the ground single-point three-dimensional coordinates is completed.
The beneficial effects of the above-mentioned further scheme are: by the technical scheme, the three-dimensional coordinates of the ground point single point are measured according to the instrument height.
Further, the step S4 comprises the following sub-steps:
s4-1: inputting the instrument height into a measurement handbook to perform click measurement, so as to finish the three-dimensional coordinate measurement of the site;
s4-2: measuring the three-dimensional coordinates of the center point of the measuring module of the laser radar by using the GNSS measuring module;
s4-3: transmitting pulse laser to land point by using laser radar measuring module, obtaining distance from land point to center point of laser radar measuring module according to receiver of partial reflected light wave of receiving pulse laser;
s4-4: calculating the coordinate of each ground light spot by combining the instrument height, the laser scanning angle, the three-dimensional coordinate of the central point of the laser radar measuring module, the vertical scanning angle and the horizontal scanning angle of the laser pulse obtained by the INS inertial navigation system, and continuously scanning a target object by pulse laser to obtain the cloud coordinate of the ground point;
s4-5: and completing the current site photo shooting by using a mapping camera for post-processing of the wrong elevation point hit on the ground point.
The beneficial effects of the above-mentioned further scheme are: and measuring the three-dimensional coordinates of the set site, the three-dimensional coordinates of the center point of the laser radar measurement module and the distance from the ground point to the center point of the laser radar measurement module by using the GNSS measurement module and the laser radar measurement module, thereby obtaining the cloud coordinates of the ground point.
Further, the distance from the ground point to the center point of the laser radar measurement module in S4-3
The formula is as follows:
wherein,,
for the time interval from the emission to the reception of the laser light wave, < >>
Is the speed of light.
The beneficial effects of the above-mentioned further scheme are: obtaining the distance from the ground point to the center point of the laser radar measurement module by using the calculation
And the coordinates of each ground light spot are calculated.
Further, the coordinates of each of the ground spots in S4-4
The formula is as follows:
wherein,,
for the three-dimensional coordinates of the center point of the lidar measuring module, < >>
For the distance of the ground point to the center point of the lidar measuring module,/for the distance of the ground point to the center point of the lidar measuring module>
Vertical scan angle for laser pulses，/>
Is the horizontal scan angle of the laser pulse.
The beneficial effects of the above-mentioned further scheme are: through the technical scheme, the coordinates of each ground light spot are calculated according to the three-dimensional coordinates of the center point of the laser radar measurement module, the distance from the ground point to the center point of the laser radar measurement module, and the vertical scanning angle and the horizontal scanning angle of the light pulse.
Drawings
Fig. 1 is a block diagram of a ground laser radar measuring instrument based on GNSS positioning.
Wherein: 1. a laser radar measurement module; 2. a GNSS measurement module; 3. centering rod; 4. a centering rod and handbook connecting device; 5. measuring a handbook; 6. and (5) leveling the bubbles.
Fig. 2 is a flowchart of a ground laser radar measurement method based on GNSS positioning.
Fig. 3 is a diagram of the distance structure from the ground point to the center point of the lidar measurement module.
Detailed Description
The invention will be further described with reference to the drawings and specific examples.
In one embodiment of the invention, the GNSS measurement module, the laser radar measurement module and the centering rod are connected in sequence, and the GNSS measurement module is connected with the handbook through Bluetooth; inputting a CORS account number and a password in a measurement handbook, completing network connection, creating a project, selecting a needed coordinate system, setting a central meridian and the like, and completing project setting; centering the centering rod with a ground measurement point to center the level bubble, and recording the instrument height through a high standard mark of the centering rod; inputting the instrument height in the measurement handbook, clicking for measurement, and finishing the three-dimensional coordinate measurement of the site; clicking a GNSS measurement module to obtain the three-dimensional coordinates of the center point of the laser radar measurement module; and clicking laser point cloud measurement to obtain three-dimensional data of all target points on the target object.
s1: completing project setting, coordinate system setting and central meridian setting by using a measurement handbook;
s2: centering the centering rod with the measurement ground point to center the level bubble, and recording the instrument height through the scale mark of the centering rod;
s3: measuring a ground single-point three-dimensional coordinate according to the instrument height by using a GNSS measurement module;
s4: and measuring the three-dimensional coordinates of the ground point cloud according to the instrument height by using the GNSS measuring module and the laser radar measuring module.
And S3, inputting the instrument height into a measurement handbook, clicking and measuring to finish the measurement of the ground single-point three-dimensional coordinates.
S4, the following sub-steps are included:
s4-1: inputting the instrument height into a measurement handbook to perform click measurement, so as to finish the three-dimensional coordinate measurement of the site;
s4-2: measuring the three-dimensional coordinates of the center point of the measuring module of the laser radar by using the GNSS measuring module;
s4-3: transmitting pulse laser to land point by using laser radar measuring module, obtaining distance from land point to center point of laser radar measuring module according to receiver of partial reflected light wave of receiving pulse laser;
s4-4: calculating the coordinate of each ground light spot by combining the instrument height, the laser scanning angle, the three-dimensional coordinate of the central point of the laser radar measuring module, the vertical scanning angle and the horizontal scanning angle of the laser pulse obtained by the INS inertial navigation system, and continuously scanning a target object by pulse laser to obtain the cloud coordinate of the ground point;
s4-5: and completing the current site photo shooting by using a mapping camera for post-processing of the wrong elevation point hit on the ground point.
S4-3 distance from ground point to center point of laser radar measurement module
The formula is as follows:
wherein,,
for the time interval from the emission to the reception of the laser light wave, < >>
Is the speed of light.
S4-4 coordinates of each ground light spot
The formula is as follows:
wherein,,
for the three-dimensional coordinates of the center point of the lidar measuring module, < >>
For the distance of the ground point to the center point of the lidar measuring module,/for the distance of the ground point to the center point of the lidar measuring module>
For the vertical scan angle of the laser pulse, +.>
Is the horizontal scan angle of the laser pulse.
In one embodiment of the invention, the ground single-point plot root point measurement method comprises the following steps: the GNSS measurement module is connected with the centering rod well, and the GNSS measurement module is connected with the handbook through Bluetooth; inputting a CORS account number and a password in a measurement handbook, completing network connection, creating a project, selecting a needed coordinate system, setting a central meridian and the like, and completing project setting; centering the centering rod with a ground measurement point to center the level bubble, and recording the instrument height through a high standard mark of the centering rod; inputting the instrument height into the measurement handbook, and clicking to measure, namely finishing the measurement of the single-point three-dimensional coordinates of the ground points.
In another embodiment of the present invention, a ground laser point cloud measurement method includes: the GNSS measuring module, the laser radar measuring module and the centering rod are connected in sequence, and the GNSS measuring module is connected with the handbook through Bluetooth; inputting the instrument height in the measurement handbook, clicking for measurement, and finishing the three-dimensional coordinate measurement of the site; clicking a GNSS measurement module to obtain the three-dimensional coordinates of the center point of the laser radar measurement module; clicking laser point cloud measurement, a laser radar measurement module emits pulse laser, the pulse laser strikes trees, crops and ground points on the ground, partial light waves are reflected to a receiver of the laser radar, and the time interval between the partial light waves and the receiving is
The light speed is +.>
Distance is calculated according to the principle of laser ranging>
The method comprises the steps of carrying out a first treatment on the surface of the Combining the height of the laser, the laser scan angle, and the position of the laser derived from GNSS and the vertical scan angle of the laser pulse derived from INS inertial navigation system +.>
Horizontal scan angle->
As shown in fig. 3, the coordinates of each ground light spot can be accurately calculated, and the pulsed laser continuously scans the target object, so that three-dimensional data of all target points on the target object can be obtained.
The invention can measure by adopting a single instrument held by a single person, saves a great deal of manpower, is not limited by terrains, and can measure any terrains; the active measurement mode is adopted, so that the method is not affected by weather, can be used for measuring at night, and solves the problems of short construction period and heavy tasks; any area can be measured and is not influenced by the no-fly area; the real-time positioning accuracy is high by using a GNSS map root point measurement mode; the point cloud coverage in the range of tens of meters can be realized by one-station measurement, the efficiency is high, and the point cloud density is enough to meet the calculation requirement of the land arrangement engineering quantity.
Those of ordinary skill in the art will recognize that the embodiments described herein are for the purpose of aiding the reader in understanding the principles of the present invention and should be understood that the scope of the invention is not limited to such specific statements and embodiments. Those of ordinary skill in the art can make various other specific modifications and combinations from the teachings of the present disclosure without departing from the spirit of the invention, and such modifications and combinations are still within the scope of the invention.
Claims (7)
1. The utility model provides a ground laser radar measuring instrument based on GNSS location, its characterized in that, the instrument includes laser radar measuring module (1), GNSS measuring module (2), centering rod (3), centering rod and handbook connecting device (4), measures handbook (5) and level bubble (6), instrument top is arranged in laser radar measuring module (1), GNSS measuring module (2) upper end is connected with laser radar measuring module (1), and its lower extreme is connected with centering rod (3), it fixes on centering rod (3) through centering rod and handbook connecting device (4) to measure handbook (5), level bubble (6) are fixed on GNSS measuring module (2).
2. The ground lidar measurement instrument based on GNSS positioning according to claim 1, characterized in that the lidar measurement module (1) comprises a mapping camera, a GNSS positioning unit and an INS inertial navigation system.
3. A ground laser radar measurement method based on GNSS positioning, applied to a ground laser radar measurement instrument based on GNSS positioning as claimed in claim 1 or 2, characterized in that the method comprises the following steps:
s1: completing project setting, coordinate system setting and central meridian setting by using a measurement handbook;
s2: centering the centering rod with the measurement ground point to center the level bubble, and recording the instrument height through the scale mark of the centering rod;
s3: measuring a ground single-point three-dimensional coordinate according to the instrument height by using a GNSS measurement module;
s4: and measuring the three-dimensional coordinates of the ground point cloud according to the instrument height by using the GNSS measuring module and the laser radar measuring module.
4. The method for measuring the ground laser radar based on the GNSS positioning according to claim 3, wherein the step S3 is to input the instrument height into a measurement handbook to perform click measurement, so as to complete measurement of the ground single-point three-dimensional coordinates.
5. The method for measuring a ground laser radar based on GNSS positioning according to claim 3, wherein the step S4 includes the following sub-steps:
s4-1: inputting the instrument height into a measurement handbook to perform click measurement, so as to finish the three-dimensional coordinate measurement of the site;
s4-2: measuring the three-dimensional coordinates of the center point of the measuring module of the laser radar by using the GNSS measuring module;
s4-3: transmitting pulse laser to land point by using laser radar measuring module, obtaining distance from land point to center point of laser radar measuring module according to receiver of partial reflected light wave of receiving pulse laser;
s4-4: calculating the coordinate of each ground light spot by combining the instrument height, the laser scanning angle, the three-dimensional coordinate of the central point of the laser radar measuring module, the vertical scanning angle and the horizontal scanning angle of the laser pulse obtained by the INS inertial navigation system, and continuously scanning a target object by pulse laser to obtain the cloud coordinate of the ground point;
s4-5: and completing the current site photo shooting by using a mapping camera for post-processing of the wrong elevation point hit on the ground point.
6. The method of claim 5, wherein the distance from the ground point in S4-3 to the center point of the laser radar measurement module
The formula is as follows:
wherein,,
for the time interval from the emission to the reception of the laser light wave, < >>
Is the speed of light.
7. The GNSS positioning-based ground lidar measurement method of claim 5, wherein the coordinates of each of the ground spots in S4-4
The formula is as follows:
wherein,,
for the three-dimensional coordinates of the center point of the lidar measuring module, < >>
For the distance of the ground point to the center point of the lidar measuring module,/for the distance of the ground point to the center point of the lidar measuring module>
For the vertical scan angle of the laser pulse, +.>
Is the horizontal scan angle of the laser pulse.
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| CN105445774A (en) * | 2015-11-19 | 2016-03-30 | 武汉大学 | GNSS and laser range finding combination measurement system and method |
| CN111708038A (en) * | 2020-06-23 | 2020-09-25 | 上海埃威航空电子有限公司 | Unmanned ship laser radar point cloud data correction method based on attitude sensor and GNSS |
| CN113109827A (en) * | 2021-04-07 | 2021-07-13 | 北京徕达泰科科技有限公司 | Movable three-dimensional laser scanner based on laser radar and panoramic camera |
| CN216925591U (en) * | 2022-03-22 | 2022-07-08 | 中交上海航道勘察设计研究院有限公司 | Portable laser measuring equipment based on dynamic real-time positioning |
| CN217276141U (en) * | 2022-04-15 | 2022-08-23 | 兰州铁道设计院有限公司 | High-range rapid measuring device for structures |
| CN116027351A (en) * | 2023-01-04 | 2023-04-28 | 东南大学 | Hand-held/knapsack type SLAM device and positioning method |
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2023
- 2023-05-16 CN CN202310548853.8A patent/CN116295310A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105445774A (en) * | 2015-11-19 | 2016-03-30 | 武汉大学 | GNSS and laser range finding combination measurement system and method |
| CN111708038A (en) * | 2020-06-23 | 2020-09-25 | 上海埃威航空电子有限公司 | Unmanned ship laser radar point cloud data correction method based on attitude sensor and GNSS |
| CN113109827A (en) * | 2021-04-07 | 2021-07-13 | 北京徕达泰科科技有限公司 | Movable three-dimensional laser scanner based on laser radar and panoramic camera |
| CN216925591U (en) * | 2022-03-22 | 2022-07-08 | 中交上海航道勘察设计研究院有限公司 | Portable laser measuring equipment based on dynamic real-time positioning |
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| CN116027351A (en) * | 2023-01-04 | 2023-04-28 | 东南大学 | Hand-held/knapsack type SLAM device and positioning method |
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