CN116643290A - Metering method and system for double-platform motion compensation of irregular contour - Google Patents
Metering method and system for double-platform motion compensation of irregular contour Download PDFInfo
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Classifications
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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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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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
- G01S7/497—Means for monitoring or calibrating
Abstract
The application provides a metering method and a metering system for double-platform motion compensation of irregular contours. In the method, a simple harmonic motion waveform track layout of a field to be detected is generated based on a pre-constructed simple harmonic motion model of the field to be detected; array phase control points in the pre-arranged foundation pit are determined by a simple harmonic motion waveform track layout, and elevation data of the array phase control points are obtained; generating a preset fusion area of the field to be detected based on the array phase control points, the boundary points and the datum points of the field to be detected; taking each preset fusion area as a unit, and performing motion compensation on point cloud data obtained by full-coverage metering of multiple different tracks of the laser radar unmanned aerial vehicle; and performing motion error analysis on the point cloud data after motion compensation, and performing physical splicing on the point cloud data with the error precision smaller than a preset precision threshold value and the position information of the array phase control points of the field to be detected, which is measured by a GPS (global positioning system) positioning instrument, so as to generate an irregular contour of the field to be detected.
Description
Technical Field
The application relates to the technical field of positioning and surveying, in particular to a metering method and a metering system for double-platform motion compensation of irregular contours.
Background
Currently, in projects where highly accurate geographical information is required, for example: the method mainly comprises the step of carrying out remote mapping and scanning work through a laser radar unmanned plane in the fields of municipal infrastructure, geotechnical engineering construction, building engineering construction, hydraulic engineering construction, comprehensive management of field environment, restoration of agriculture, forestry and landform and the like.
The function of the current laser radar unmanned aerial vehicle in the aspect of remote inspection is increasingly perfect, but in the efficient surveying and mapping remote scanning work, the great disadvantage exists: the precision of the laser radar unmanned plane in a construction field is not as high as that of a handheld professional mapping high-precision instrument; secondly, for the use engineering of an application end which needs to be connected into a building information model (Building Information Modeling, BIM for short), the laser radar unmanned aerial vehicle surveys and draws data, the error is larger, and the data distortion is larger; thirdly, the motion error of the airborne laser radar fluctuates greatly under the influence of external conditions, and the generated distortion is serious and is not enough to be directly applied to engineering measurement; fourth, the access accuracy of the core data (high-accuracy geographic location positioning) required by the city information model (City Information Modeling, abbreviated as CIM) cannot be effectively guaranteed within the range of the whole geographic information system (Geographic Information System or Geo-Information system, abbreviated as GIS).
Thus, there is a need to provide a solution to the above-mentioned deficiencies of the prior art.
Disclosure of Invention
It is an object of the present application to provide a method and system for dual stage motion compensation of irregular contours that solves or alleviates the problems of the prior art described above.
In order to achieve the above object, the present application provides the following technical solutions:
the application provides a metering method for double-platform motion compensation of irregular contours, which comprises the following steps: step S101, generating a simple harmonic motion waveform track layout of a field to be detected based on a pre-constructed simple harmonic motion model of the field to be detected; step S102, array phase control points in a pre-arranged foundation pit of the field to be detected are determined by the simple harmonic motion waveform track layout, and elevation data of the array phase control points in the field to be detected are obtained; step S103, generating a preset fusion area of the field to be detected based on the array phase control point containing the elevation data, and a preset boundary point and a preset datum point of the field to be detected; step S104, performing motion compensation on point cloud data obtained by full coverage metering of multiple different tracks of the laser radar unmanned aerial vehicle within the boundary point range of the field to be detected by taking each preset fusion area as a unit; step S105, performing motion error analysis on the point cloud data after motion compensation, and performing physical splicing on the point cloud data with the error precision smaller than a preset precision threshold value and the position information of the array phase control points of the field to be detected, which is measured by a GPS (global positioning system) positioning instrument, so as to generate an irregular contour of the field to be detected.
Preferably, in step S101, a simple harmonic motion model of the field to be measured is constructed according to a preset scanning breadth and a preset flight speed of the lidar unmanned aerial vehicle based on an array structure phase principle.
Preferably, in step S102, lofting coordinates of an array phase control point in a pre-arranged foundation pit of the field to be tested are determined according to the simple harmonic motion waveform track layout, and field lofting is performed on the field to be tested; and acquiring elevation data of the lofted array phase control point in the field to be measured by using a handheld GPS (Global positioning System) positioning instrument.
Preferably, in step S103, based on the array phase control point, the boundary point and the reference point of the field to be measured, a rectangular grid division is performed on a projection plane of the field to be measured, and the divided rectangular grid is projected on the field to be measured, so as to generate a plurality of predetermined fusion areas centering on the array phase control point; wherein each of said predetermined fusion regions comprises one of said array phase control points.
Preferably, in step S104, the predetermined fusion areas are used as units, and a stitching value of an array phase control point of each predetermined fusion area is determined when the point cloud data is physically stitched; calculating the deviation error of the point cloud data corresponding to each preset fusion area according to a preset error analysis model based on the preset area weight of the field to be detected so as to determine whether the point cloud data needs to be subjected to motion compensation or not; wherein, the error analysis model is:
determining a deviation error delta of point cloud data measured by the laser radar unmanned aerial vehicle when physical combination is carried out;
wherein m is the number of the array phase control points in the field to be detected, m is a positive integer, R m In the range of the preset fusion area, the deviation value between the point cloud data acquired by the laser radar unmanned aerial vehicle and the corresponding array phase control point is obtained; r is R m And/10 is the split value of the array phase control points of the predetermined fusion area; mu (mu) m And the region weight of the region where the corresponding preset fusion region is located.
Preferably, the preset precision threshold includes: a whole field precision threshold value and a preset region precision threshold value are preset, in step S105, weighted motion error analysis is carried out on the point cloud data after motion compensation of the field to be detected based on the region weight of the field to be detected, and the whole field error precision and the region error precision of the field to be detected are obtained; and in response to the point cloud data, wherein the field precision is smaller than or equal to the preset field precision threshold value, the area precision is smaller than or equal to the preset area precision threshold value, and the point cloud data and the position information of the array phase control point of the field to be detected, which is measured by a GPS (global positioning system) positioning instrument, are subjected to physical splicing by taking the preset fusion area as a unit, so that an irregular contour of the field to be detected is generated.
Preferably, after step S105, further comprising: repeatedly performing full coverage metering for a plurality of times in the range of boundary points of the field to be measured through the laser radar unmanned aerial vehicle, performing motion compensation and motion error analysis on the obtained point cloud data of the field to be measured, and then performing stitching in the irregular contour of the field to be measured until the error precision of the irregular contour of the field to be measured is not greater than a preset metering threshold.
The embodiment of the application also provides a metering system for double-platform motion compensation of irregular contours, which comprises: the space phase unit is configured to generate a simple harmonic motion waveform track layout of the field to be detected based on a pre-constructed simple harmonic motion model of the field to be detected; the lofting unit is configured to determine an array phase control point in a pre-arranged foundation pit of the field to be tested according to the simple harmonic motion waveform track layout, and acquire elevation data of the array phase control point in the field to be tested; a fusion area dividing unit configured to generate a predetermined fusion area of the field to be measured based on an array phase control point including the elevation data and a boundary point and a reference point of the field to be measured, which are predetermined; the motion compensation unit is configured to perform motion compensation on point cloud data obtained by full coverage metering of multiple different tracks of the laser radar unmanned aerial vehicle within the boundary point range of the field to be detected by taking each preset fusion area as a unit; and the contour metering unit is configured to analyze the motion error of the point cloud data after the motion compensation, and to physically splice the point cloud data with the error precision smaller than a preset precision threshold value with the position information of the array phase control points of the field to be tested, which is metered by the GPS positioner, so as to generate the irregular contour of the field to be tested.
The technical effects are as follows:
in the technical embodiment provided by the application, firstly, a simple harmonic motion waveform track layout of a field to be measured is generated based on a pre-constructed simple harmonic motion model of the field to be measured, array phase control points in a pre-arranged foundation pit of the field to be measured are determined through the simple harmonic motion waveform track layout, elevation data of the array phase control points in the field to be measured are obtained, a predetermined fusion zone of the field to be measured is generated based on the array phase control points containing the elevation data and boundary points and datum points of the predetermined field to be measured, each predetermined fusion zone is taken as a unit, point cloud data obtained by full coverage measurement of multiple different tracks of a laser radar unmanned aerial vehicle in the boundary point range of the field to be measured is subjected to motion compensation, motion error analysis is carried out on the point cloud data after the motion compensation, and physical splicing is carried out on the point cloud data with error precision smaller than a preset precision threshold value and the position information of the array phase control points of the field to be measured through a GPS positioning instrument, so that an irregular profile of the field to be measured is generated.
Therefore, through double-platform metering compensation fusion of data, the data precision of the laser radar unmanned aerial vehicle is improved, data errors are reduced, the irregular outline of a field to be measured has higher model precision, furthermore, the access precision of CIM is better guaranteed within the whole GIS range, high-precision data and BIM model data can be further integrated, and better guarantee is provided for millimeter-level measurement high-precision positioning of smart cities.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. Wherein:
FIG. 1 is a flow chart of a method for dual stage motion compensated metrology of irregular contours provided in accordance with some embodiments of the present application;
FIG. 2 is a schematic diagram of a waveform trace of simple harmonic motion provided in accordance with some embodiments of the present application;
FIG. 3 is a schematic diagram of a waveform trace layout of simple harmonic motion provided in accordance with some embodiments of the application;
FIG. 4 is a schematic diagram of a dual stage motion compensated metrology system with irregular contours provided according to some embodiments of the present application.
Detailed Description
The application will be described in detail below with reference to the drawings in connection with embodiments. The examples are provided by way of explanation of the application and not limitation of the application. Indeed, it will be apparent to those skilled in the art that modifications and variations can be made in the present application without departing from the scope or spirit of the application. For example, features illustrated or described as part of one embodiment can be used on another embodiment to yield still a further embodiment. Accordingly, it is intended that the present application encompass such modifications and variations as fall within the scope of the appended claims and their equivalents.
As shown in fig. 1 to 3, the method for measuring motion compensation of a dual platform with irregular contours according to the embodiment of the present application includes:
step S101, generating a simple harmonic motion waveform track layout of the field to be detected based on a pre-constructed simple harmonic motion model of the field to be detected.
In the application, a coordinate system is established based on a datum point (mapping datum point) of a given field to be measured as a basic locating point, the laser radar unmanned aerial vehicle takes the datum point as the basic locating point, measures the field to be measured in the boundary point range of the field to be measured, and establishes a simple harmonic motion model of the laser radar unmanned aerial vehicle when measuring the field to be measured according to the motion and time change of the laser radar unmanned aerial vehicle when measuring the field to be measured. Because only the irregular contour corresponding to the point cloud data measured by the laser radar unmanned aerial vehicle can be subjected to fuzzy positioning through the given boundary point and the datum point, the distortion of the point cloud data cannot be accurately judged, and the distortion degree of the point cloud data measured by the laser radar unmanned aerial vehicle is measured through the corresponding point of the space phase track in the simple harmonic motion model.
Specifically, based on an array phase control principle, a simple harmonic motion model of a field to be detected is constructed according to a preset scanning breadth and a preset flying speed of the laser radar unmanned aerial vehicle. In the application, the constructed simple harmonic motion model is as follows:
wherein, (x) n 、y n ) In a coordinate system taking a datum point as an origin, when the laser radar unmanned aerial vehicle measures a field to be measured, the position coordinate of the laser radar unmanned aerial vehicle at the moment n in the advancing direction is represented by D, the scanning width (transverse direction) of the laser radar unmanned aerial vehicle is represented by v, the flying speed of the laser radar unmanned aerial vehicle is represented by phi, and the initial phase relative to the datum point in the coordinate system taking the datum point as the origin is represented by phi; α is the position of each row of phase wave traces with respect to the Y-axis in the coordinate system with the reference point as the origin. Here, it should be noted that, in different fields to be measured, according to the geological topography of the ground surface of the field to be measured and the scanning breadth of the laser radar unmanned aerial vehicle, the field to be measured is divided into a plurality of columns (each column has the same width), the laser radar unmanned aerial vehicle performs full coverage scanning on each column according to the division sequence, and proceeds according to the corresponding extending direction of the simple harmonic motion track breadth for each column (as shown in fig. 2) until all the fields to be measured are scanned. Wherein the arrow in fig. 2 indicates the traveling direction of the lidar drone.
In the application, regular point taking on a space phase track in a simple harmonic motion model is used for reflecting the point taking on a construction site of a field to be measured, and whether the laser radar unmanned aerial vehicle completely eliminates distortion in the metering process is determined by comparing the position deviation of the point cloud position of the corresponding area and the position deviation of the adjacent phase point. Compared with quincuncial point distribution, the distance between each point is the same when the quincuncial point distribution is performed, the point taking mode in the two-dimensional plane state is adopted, the direction distance difference value generated by the vertical height is ignored, when the quincuncial point distribution is adopted to correspond to point cloud data, the splicing cannot be performed, in addition, the quincuncial point distribution is redundant, the point placement and the point distribution basis are insufficient, and the precision improvement is limited. In the application, the space phase track is adopted to take the point, and the space states such as the slope changing point, the landform abrupt change position and the like can be better processed when the point is distributed, and the specific relations such as the point position phase distance and the like are not required to be considered; and because the space phase track is accurately generated through coordinates, the position accuracy and the arrangement flexibility can be effectively ensured.
Step S102, array phase control points in a pre-arranged foundation pit of the field to be detected are determined by a simple harmonic motion waveform track layout diagram, and elevation data of the array phase control points in the field to be detected are obtained.
Specifically, a simple harmonic motion waveform track layout is generated through a simple harmonic motion model, a lofting point position is set in the simple harmonic motion waveform track layout, namely, lofting coordinates of an array phase control point in a pre-arranged foundation pit of a field to be tested are determined according to the simple harmonic motion waveform track layout, and field lofting is carried out on the field to be tested. When the two-dimensional lofting point is set at the computer end, the plane lofting point is set according to the wave crest, wave trough, balance position and the like in the simple harmonic motion waveform track layout, and the plane lofting point is set with reference to the position with larger change of the landform section, the vegetation over-dense position, the position with local need of increasing the point density (the point taking density determines the recovery precision of the landform after the elevation is acquired, that is, the more the corresponding elevation acquisition points are at each linear meter point, the higher the landform recovery precision is, and vice versa) and the like in the simple harmonic motion waveform track layout (as shown in fig. 3).
In the simple harmonic motion waveform track layout, only the plane coordinates of the array phase control points are obtained, and corresponding elevation information is lacking, so that after the array phase control points are lofted in a construction field, the handheld GPS positioning instrument is used for carrying out field metering, and elevation data of the lofted array phase control points in the field to be measured are obtained. Therefore, three-dimensional metering of the array phase control points is realized, and the metering precision of the irregular contour is improved.
Step S103, a predetermined fusion area of the field to be measured is generated based on the array phase control points including the elevation data, and the boundary points and the datum points of the field to be measured.
According to the application, the boundary points and the datum points of the field to be measured are survey data, the construction red line of the field to be measured is marked through the boundary points, the model is positioned through the datum points, and the coordinate system is established by taking the datum points as the original points, so that different coordinate systems of the double platforms can be effectively unified, the metering compensation fusion is possible, and the metering precision of the irregular contour of the field to be measured is further improved.
When data are fused, the field to be measured is divided into a plurality of areas to be fused, and each area to be fused is respectively compensated and fused, so that the overall metering precision of the irregular contour is improved. The method comprises the steps that plane coordinates of array phase control points are obtained by a simple harmonic motion waveform track layout, rectangular grid division is carried out on a projection plane of a field to be detected in a boundary point range of the field to be detected through the plane coordinates of the array phase control points in a coordinate system taking a datum point as a coordinate origin, one array phase control point is corresponding to each rectangular grid, and the plane coordinates of the array phase control points are taken as the centers of the rectangular grids;
and then projecting the rectangular grid which is divided in the projection plane on a field to be detected, and generating a region to be fused taking the array phase control point as the center on the field to be detected. Because the elevation data of the array phase control points are determined by the handheld GPS positioning instrument, after the rectangular grid with the plane coordinates containing the array phase control points as the center is projected to the field to be detected, the center of the area to be fused is the array phase control point containing the three-dimensional coordinates. That is, based on the array phase control point, the boundary point and the reference point of the field to be measured, rectangular grid division is performed on the projection plane of the field to be measured, and the divided rectangular grid is projected on the field to be measured, so as to generate a plurality of predetermined fusion areas centering on the array phase control point, wherein each predetermined fusion area comprises one array phase control point.
And step S104, taking each preset fusion area as a unit, and performing motion compensation on point cloud data obtained by full-coverage metering of multiple different tracks of the laser radar unmanned aerial vehicle within the boundary point range of the field to be detected.
According to the application, the laser radar unmanned aerial vehicle cruises and measures the field to be measured according to different track paths at a proper flying speed (6-15 m/s) in the boundary point range of the field to be measured, so as to generate point cloud data of the field to be measured. In the laser radar unmanned aerial vehicle motion process, along with the motion of laser radar unmanned aerial vehicle during laser scanning, every laser spot all produces on different benchmark appearance, and when sending laser at different moments promptly, laser radar unmanned aerial vehicle's position is different, and the laser data of every angle is not instantaneous to obtain, and when the frequency ratio of laser radar scanning is lower, the motion error of laser spot that laser radar unmanned aerial vehicle motion brought is great, therefore the point cloud data of measurement receives the motion of laser radar unmanned aerial vehicle and produces the distortion.
Because the irregular outline of the field to be measured for producing distorted point cloud data is inaccurate, the acquired point cloud data needs to be analyzed, and the distorted point cloud data needs to be subjected to motion compensation. Specifically, the preset fusion areas are taken as units, the splicing value of the array phase control points of each preset fusion area is determined when the point cloud data are subjected to physical splicing, and the error of the point cloud data acquired by the laser radar unmanned aerial vehicle when the irregular contour is produced is further calculated through the partitioned splicing value of the array phase control points corresponding to each preset fusion area, so that whether the point cloud data need to be subjected to motion compensation is determined. Based on the area weight of the predetermined field to be detected, calculating the deviation error of the point cloud data corresponding to each predetermined fusion area according to a preset error analysis model so as to determine whether the point cloud data needs to be subjected to motion compensation.
That is, based on the predetermined area weight of the field to be measured, the weighted motion error analysis is performed on the point cloud data according to the split value of the array phase control point of each predetermined fusion area, so as to determine whether the point cloud data needs to be motion compensated. The field to be measured is divided into different areas based on the stress analysis cloud image by carrying out stress analysis on a physical model of the field to be measured, for example: the method comprises the steps of carrying out weight assignment on different areas based on a dichotomy according to the result of stress analysis of a cloud picture, wherein the areas comprise complex areas with terrain change, foundation pit corners, abrupt terrain changes, construction areas, non-construction areas and the like.
When the preset fusion area is taken as a unit, determining the splicing value of the array phase control points of the preset fusion area, calculating the deviation value between the point cloud data acquired by the laser radar unmanned aerial vehicle and the array phase control points in the range of the preset fusion area, and determining the splicing value of the array phase control points of each preset fusion area based on the deviation value. In particular, the method comprises the steps of,
the application, according to the error analysis model:
determining a deviation error delta of point cloud data measured by the laser radar unmanned aerial vehicle when physical combination is carried out; wherein m is the number of array phase control points in the field to be detected, m is a positive integer, R m In order to be in the range of a preset fusion area, the deviation value between the point cloud data acquired by the laser radar unmanned aerial vehicle and the corresponding array phase control point is calculated; r is R m And/10 is the split value of the array phase control points of the preset fusion area; mu (mu) m And the region weight of the region where the corresponding preset fusion region is located.
When the deviation error delta of the point cloud data in physical combination is larger than 25 mm, motion compensation is required to be performed on the point cloud data. Specifically, based on a carrier phase difference technology, the measured point cloud data of the laser radar unmanned aerial vehicle is subjected to motion compensation through the result of measuring the field to be measured by the inertial measurement unit. The point cloud data metered by the laser radar unmanned aerial vehicle are converted into the same coordinate system as the inertial measurement unit based on the carrier phase difference technology, so that distortion removal is performed on the point cloud data.
Firstly, synchronizing a laser radar and an inertial measurement unit of a laser radar unmanned aerial vehicle, and establishing a global coordinate system by taking a first frame point cloud acquired by the laser radar unmanned aerial vehicle as an origin; then, collecting a point cloud of a laser radar current frame which is not the first frame, and establishing a local coordinate system by taking the point cloud of the current frame as an origin; simultaneously converting an inertial measurement unit coordinate system corresponding to the point cloud acquisition moment of the current frame into an established local coordinate system, and synchronously obtaining the pose of the inertial measurement unit; secondly, according to a local coordinate system, obtaining the pose of an inertial measurement unit corresponding to each data point in the point cloud of the current frame by adopting an interpolation method, and correcting the motion distortion of the point of the current frame of the laser radar according to the pose of the inertial measurement unit; and finally, converting the data of the local coordinate system into a global coordinate, and calibrating the pose of the inertial measurement unit through carrier phase difference. And sequentially circulating until the movement distortion correction of the point cloud data measured by the laser radar unmanned aerial vehicle is complete.
Step S105, performing motion error analysis on the point cloud data after motion compensation, and performing physical splicing on the point cloud data with the error precision smaller than a preset precision threshold value and the position information of the array phase control points of the field to be detected, which is measured by the GPS positioning instrument, so as to generate an irregular contour of the field to be detected.
And determining whether the error precision of the point cloud data after compensation and adjustment meets a preset precision threshold value by adopting weighted motion error analysis, so as to judge whether the point cloud data after compensation and adjustment meets the splicing requirement. The preset precision threshold comprises a preset whole field precision threshold and a preset region precision threshold, when the error precision of the point cloud data subjected to compensation adjustment is calculated, the weighted motion error analysis is carried out on the point cloud data subjected to motion compensation of the field to be detected based on the region weight of the field to be detected, and the whole field error precision and the region error precision of the field to be detected are obtained. Here, the whole field error accuracy is required to be 25 mm or less, the area error accuracy is 10 mm or less, that is, the error accuracy of the point cloud data after motion compensation in each predetermined fusion area is not more than 10 mm, and the error accuracy of the point cloud data of the whole field to be measured is not more than 25 mm.
When the calculated whole field precision is smaller than or equal to a preset whole field precision threshold value and the area precision is smaller than or equal to a preset area precision threshold value, the point cloud data subjected to compensation adjustment is considered to be capable of being spliced with the data measured by the GPS positioning instrument. Specifically, the position information of the array phase control points of the field to be measured, which is measured by the GPS positioning instrument, and the point cloud data after compensation adjustment are subjected to physical splicing by taking the preset fusion area as a unit, so that an irregular contour of the field to be measured is generated. It should be noted that, the area precision calculation of the point cloud data after compensation adjustment adopts the same method as the deviation error δ, and after the area precision of each predetermined fusion area is obtained, the area precision of each predetermined fusion area is weighted based on the corresponding area weight, so as to obtain the whole field precision of the field to be measured.
According to the method, the irregular outline of the field to be measured is generated by compensating the adjusted point cloud data, if the error precision of the generated irregular outline is smaller than a preset metering threshold value (set according to the geological landform of the field to be measured), the produced irregular outline of the field to be measured is considered to have better guarantee on the detail precision of the field to be measured in the whole GIS range, the high-precision data and BIM model data can be further integrated, and better guarantee is provided for millimeter-level measurement high-precision positioning of smart cities. If the precision of the generated irregular contour is greater than a preset metering threshold value, repeating full coverage metering for a plurality of times in the boundary point range of the field to be tested through the laser radar unmanned aerial vehicle, performing motion compensation and motion error analysis on the obtained point cloud data of the field to be tested, then splicing the generated irregular contour of the field to be tested, and judging and adjusting the coordinate based on the data acquired by the double platforms until the error precision of the irregular contour of the field to be tested is not greater than the preset metering threshold value. Therefore, the deviation error of the point cloud data measured by the laser radar unmanned aerial vehicle is further reduced, and the precision of the generated irregular contour is effectively improved.
As shown in fig. 4, an embodiment of the present application further provides an irregularly contoured dual stage motion compensated metrology system, comprising:
the space phase unit 401 is configured to generate a simple harmonic motion waveform track layout of the field to be detected based on a pre-constructed simple harmonic motion model of the field to be detected; the lofting unit 402 is configured to determine an array phase control point in a pre-arranged foundation pit of the field to be tested according to the simple harmonic motion waveform track layout, and acquire elevation data of the array phase control point in the field to be tested; a fusion area dividing unit 403 configured to generate a predetermined fusion area of the field to be measured based on the array phase control point including the elevation data, and the boundary point and the reference point of the field to be measured determined in advance; the motion compensation unit 404 is configured to perform motion compensation on point cloud data obtained by full coverage metering of multiple different tracks of the laser radar unmanned aerial vehicle within the boundary point range of the field to be detected by taking each predetermined fusion area as a unit; the contour measurement unit 405 is configured to perform motion error analysis on the motion compensated point cloud data, and perform physical splicing on the point cloud data with the error precision smaller than a preset precision threshold and the position information of the array phase control points of the field to be measured by the GPS positioning instrument, so as to generate an irregular contour of the field to be measured.
The irregular-contour double-platform motion compensation metering system provided by the embodiment of the application can realize the steps and the flow of any irregular-contour double-platform motion compensation metering method, achieve the same technical effects and are not described in detail herein.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (8)
1. A method for metering motion compensation of a double platform with an irregular contour, comprising:
step S101, generating a simple harmonic motion waveform track layout of a field to be detected based on a pre-constructed simple harmonic motion model of the field to be detected;
step S102, array phase control points in a pre-arranged foundation pit of the field to be detected are determined by the simple harmonic motion waveform track layout, and elevation data of the array phase control points in the field to be detected are obtained;
step S103, generating a preset fusion area of the field to be detected based on the array phase control point containing the elevation data, and a preset boundary point and a preset datum point of the field to be detected;
step S104, performing motion compensation on point cloud data obtained by full coverage metering of multiple different tracks of the laser radar unmanned aerial vehicle within the boundary point range of the field to be detected by taking each preset fusion area as a unit;
step S105, performing motion error analysis on the point cloud data after motion compensation, and performing physical splicing on the point cloud data with the error precision smaller than a preset precision threshold value and the position information of the array phase control points of the field to be detected, which is measured by a GPS (global positioning system) positioning instrument, so as to generate an irregular contour of the field to be detected.
2. The method for dual stage motion compensated metrology of irregular contours as claimed in claim 1, wherein, in step S101,
based on an array structure phase principle, a simple harmonic motion model of the field to be detected is constructed according to the preset scanning breadth and the preset flying speed of the laser radar unmanned aerial vehicle.
3. The method for dual stage motion compensated metrology of a base irregular contour of claim 1, wherein, in step S102,
determining lofting coordinates of array phase control points in a pre-arranged foundation pit of the field to be tested according to the simple harmonic motion waveform track layout, and performing field lofting on the field to be tested;
and acquiring elevation data of the lofted array phase control point in the field to be measured by using a handheld GPS (Global positioning System) positioning instrument.
4. The method of claim 1, wherein in step S103,
based on the array phase control point, the boundary point and the datum point of the field to be detected, carrying out rectangular grid division on a projection plane of the field to be detected, and projecting the divided rectangular grid on the field to be detected to generate a plurality of preset fusion areas taking the array phase control point as the center; wherein each of said predetermined fusion regions comprises one of said array phase control points.
5. The method of claim 1, wherein in step S104,
determining the split value of the array phase control point of each predetermined fusion area when the point cloud data are physically split by taking the predetermined fusion area as a unit;
calculating the deviation error of the point cloud data corresponding to each preset fusion area according to a preset error analysis model based on the preset area weight of the field to be detected so as to determine whether the point cloud data needs to be subjected to motion compensation or not; wherein, the error analysis model is:
determining a deviation error delta of point cloud data measured by the laser radar unmanned aerial vehicle when physical combination is carried out;
wherein m is the number of the array phase control points in the field to be detected, m is a positive integer, R m In the range of the preset fusion area, the deviation value between the point cloud data acquired by the laser radar unmanned aerial vehicle and the corresponding array phase control point is obtained; r is R m And/10 is the split value of the array phase control points of the predetermined fusion area; mu (mu) m And the region weight of the region where the corresponding preset fusion region is located.
6. The method of claim 5, wherein the pre-set precision threshold comprises: a preset whole field precision threshold value and a preset region precision threshold value, in step S105,
based on the regional weight of the field to be detected, carrying out weighted motion error analysis on the point cloud data after motion compensation of the field to be detected, and obtaining the whole field error precision and the regional error precision of the field to be detected;
and in response to the point cloud data, wherein the field precision is smaller than or equal to the preset field precision threshold value, the area precision is smaller than or equal to the preset area precision threshold value, and the point cloud data and the position information of the array phase control point of the field to be detected, which is measured by a GPS (global positioning system) positioning instrument, are subjected to physical splicing by taking the preset fusion area as a unit, so that an irregular contour of the field to be detected is generated.
7. The method of motion compensated metrology of irregular contours of any of claims 1-6, further comprising, after step S105:
repeatedly performing full coverage metering for a plurality of times in the range of boundary points of the field to be measured through the laser radar unmanned aerial vehicle, performing motion compensation and motion error analysis on the obtained point cloud data of the field to be measured, and then performing stitching in the irregular contour of the field to be measured until the error precision of the irregular contour of the field to be measured is not greater than a preset metering threshold.
8. An irregularly contoured dual stage motion compensated metrology system, comprising:
the space phase unit is configured to generate a simple harmonic motion waveform track layout of the field to be detected based on a pre-constructed simple harmonic motion model of the field to be detected;
the lofting unit is configured to determine an array phase control point in a pre-arranged foundation pit of the field to be tested according to the simple harmonic motion waveform track layout, and acquire elevation data of the array phase control point in the field to be tested;
a fusion area dividing unit configured to generate a predetermined fusion area of the field to be measured based on an array phase control point including the elevation data and a boundary point and a reference point of the field to be measured, which are predetermined;
the motion compensation unit is configured to perform motion compensation on point cloud data obtained by full coverage metering of multiple different tracks of the laser radar unmanned aerial vehicle within the boundary point range of the field to be detected by taking each preset fusion area as a unit;
and the contour metering unit is configured to analyze the motion error of the point cloud data after the motion compensation, and to physically splice the point cloud data with the error precision smaller than a preset precision threshold value with the position information of the array phase control points of the field to be tested, which is metered by the GPS positioner, so as to generate the irregular contour of the field to be tested.
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