CN117635413A - Real-time transmission system and method for airborne laser radar data - Google Patents
Real-time transmission system and method for airborne laser radar data Download PDFInfo
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Abstract
The invention provides a real-time transmission system and a method for airborne laser radar data, which relate to the technical field of general image data processing and comprise the following steps: the system comprises an ADQ acquisition card, a positioning and attitude determination module, a PC end, a wireless communication module, a GPU and a visual display end, wherein the ADQ acquisition card is connected with the PC end and the GPU module; the PC end is connected with the visual display end through the wireless communication module. The technical scheme of the invention solves the problem that the airborne laser radar data cannot be processed in parallel and the data processing speed is low in the prior art.
Description
Technical Field
The invention relates to the technical field of general image data processing, in particular to a real-time transmission system and method for airborne laser radar data.
Background
The airborne laser radar can meet the problems that the original data volume of full waveform ranging is particularly large, the real-time transmission efficiency is low and the real-time transmission processing efficiency is limited in the real-time transmission processing process of image data. Because of the large data volume, the prior art only transmits the full waveform data to the CPU, and then the full waveform data is processed by the CPU (central processing unit), so that the processing efficiency is lower; if the data are only transmitted to the GPU, and then a large amount of image data are processed by the GPU (image processor), although the processing speed is improved to a certain extent, the airborne laser radar data comprise three groups, wherein the full waveform is in a main proportion, and the rest is gesture, navigation data and turning mirror data, although the data size is smaller, the calculation steps are more complicated, so that the burden of the GPU for processing the data is still increased to influence the efficiency, and in the process of processing the data by the GPU, the central processor is in a relatively idle state, and a certain efficiency is wasted.
Therefore, there is a need for an airborne laser radar data real-time transmission system and method capable of processing airborne laser radar data in parallel and accelerating data processing speed.
Disclosure of Invention
The invention mainly aims to provide a real-time transmission system and method for airborne laser radar data, which are used for solving the problems that the airborne laser radar data cannot be processed in parallel and the data processing speed is low in the prior art.
In order to achieve the above object, the present invention provides a real-time transmission system for airborne laser radar data, comprising: the system comprises an ADQ acquisition card, a positioning and attitude determination module, a PC end, a wireless communication module, a GPU and a visual display end, wherein the ADQ acquisition card is connected with the PC end and the GPU module; the PC end is connected with the visual display end through the wireless communication module.
Further, the ADQ acquisition card includes: the ADC module comprises an ADC and an FPGA module; the FPGA module comprises: the system comprises a data acquisition module, a data processing module, a data storage module and a PCLE control module which are sequentially connected, wherein a first user logic area and a second user logic area are integrated in the data processing module, and a DRAM dynamic random access memory controller and a DRAM FIFO are integrated in the data storage module.
The PC end comprises: the PCLE switch, the RAM and the CPU are sequentially connected, and the PCLE control module is connected with the PCLE switch.
And the wireless communication module is connected with the CPU and transmits data in the CPU to the visual display end.
The GPU comprises: RAM and GPU user applications connected to each other.
The invention also provides a real-time transmission method of the airborne laser radar data, which comprises the following steps:
s1, collecting original data, wherein the original data comprises: full waveform data, turning mirror data, and POS data.
S2, performing digital-to-analog conversion on the full waveform data and the turning mirror data by using an ADC (analog-to-digital converter), transmitting the full waveform data and the turning mirror data to a first user logic area, and adding trigger information and a time stamp in the first user logic area.
And transmitting the POS data to a CPU of the PC end to perform carrier phase difference processing.
And S3, transmitting the original data to a second user logic area, and carrying out data correction in the second user logic area.
S4, transmitting the corrected data to a first-in first-out module of the DRAM FIFO.
S5, the corrected full waveform data is transmitted to the GPU in a point-to-point streaming mode through a PCLE interface; and at the same time, the corrected turning mirror data is transmitted to the CPU.
And S6, processing the full waveform data to calculate distance information.
And S7, calibrating the actual measured value by using the initial setting parameters, and carrying out data fusion on the rotating mirror data, the POS data and the calculated distance information.
And S8, calibrating the placement parameters of the fused data, resolving the fused data, and finally outputting point cloud data.
And S9, transmitting the point cloud image data of the airborne laser radar to the ground through a 4G or 5G module of the wireless communication module in real time.
Further, the step S6 specifically includes the following steps:
and S6.1, filtering and smoothing pretreatment is carried out on the full-wave data.
And S6.2, calculating the distance information by using a peak detection method and a deconvolution algorithm.
Further, the step S8 specifically includes the following steps:
s8.1, calibrating the placement parameters, and reducing placement errors.
S8.2, carrying out fusion calculation on the data.
And S8.3, registering the alignment point cloud by utilizing an ICP algorithm, and converting coordinates.
S8.4, outputting an airborne laser radar point cloud image.
The invention has the following beneficial effects:
according to the invention, the data is simultaneously transmitted to the GPU and the CPU in a specific transmission mode, the data processing is simultaneously carried out, and the data processing speed is increased by adopting the GPU to process full-waveform data with larger data quantity and adopting the CPU to process the data with smaller data quantity.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art. In the drawings:
fig. 1 shows a schematic system structure of an airborne laser radar data real-time transmission system of the present invention.
Fig. 2 shows a flow chart of a method for transmitting data of an airborne laser radar in real time.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. 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.
An airborne laser radar data real-time transmission system as shown in fig. 1, comprising: the system comprises an ADQ acquisition card, a positioning and attitude determination module, a PC end, a wireless communication module, a GPU and a visual display end, wherein the ADQ acquisition card is connected with the PC end and the GPU module; the PC end is connected with the visual display end through the wireless communication module.
Specifically, the ADQ acquisition card includes: the ADC module comprises an ADC and an FPGA module; the FPGA module comprises: the system comprises a data acquisition module, a data processing module, a data storage module and a PCLE control module which are sequentially connected, wherein a first user logic area and a second user logic area are integrated in the data processing module, and a DRAM dynamic random access memory controller and a DRAM FIFO are integrated in the data storage module.
The PC end comprises: the PCLE switch, the RAM and the CPU are sequentially connected, and the PCLE control module is connected with the PCLE switch.
And the wireless communication module is connected with the CPU and transmits data in the CPU to the visual display end.
The GPU comprises: RAM and GPU user applications connected to each other.
The real-time transmission method of the airborne laser radar data shown in fig. 2 specifically comprises the following steps:
s1, collecting original data, wherein the original data comprises: full waveform data, turning mirror data, and POS data.
S2, performing digital-to-analog conversion on the full waveform data and the turning mirror data by using an ADC (analog-to-digital converter), transmitting the full waveform data and the turning mirror data to a first user logic area, and adding trigger information and a time stamp in the first user logic area.
And transmitting the POS data to a CPU of the PC end to perform carrier phase difference processing.
And S3, transmitting the original data to a second user logic area, and carrying out data correction in the second user logic area.
S4, transmitting the corrected data to a first-in first-out module of the DRAM FIFO.
S5, the corrected full waveform data is transmitted to the GPU in a point-to-point streaming mode through a PCLE interface; and at the same time, the corrected turning mirror data is transmitted to the CPU.
And S6, processing the full waveform data to calculate distance information.
And S7, calibrating the actual measured value by using the initial setting parameters, and carrying out data fusion on the rotating mirror data, the POS data and the calculated distance information. Wherein the initial placement parameters include: and calibrating parameters such as the position, the angle and the coordinates of the rotating mirror with actual measured values, thereby realizing the aim of calibration.
And S8, calibrating the placement parameters of the fused data, resolving the fused data, and finally outputting point cloud data.
And S9, transmitting the point cloud image data of the airborne laser radar to the ground through a 4G or 5G module of the wireless communication module in real time.
Specifically, step S6 specifically includes the following steps:
and S6.1, filtering and smoothing pretreatment is carried out on the full-wave data.
And S6.2, calculating the distance information by using a peak detection method and a deconvolution algorithm.
Specifically, step S8 specifically includes the steps of:
s8.1, calibrating the placement parameters, and reducing placement errors.
S8.2, carrying out fusion calculation on the data.
And S8.3, registering the alignment point cloud by utilizing an ICP algorithm, and converting coordinates.
S8.4, outputting an airborne laser radar point cloud image.
The principles of the present invention are described in detail below:
firstly, the original airborne laser radar data acquired by acquisition is converted into a digital signal to be processed through an ADC (digital-to-analog converter), the digital-to-analog converter interface is stored on an acquisition card ADQ integrated based on an FPGA, files of different data are distinguished according to different data storage positions or names, then the data are selectively transmitted, such as POS data are transmitted to a CPU (central processing unit) at a PC end, full waveform data are transmitted to a GPU (graphics processing unit), the data are simultaneously and respectively transmitted through multiple channels of the acquisition card, during transmission, the data are firstly transmitted to a first user logic area, the acquisition of a complete original data set is realized by using a firmware development kit carried by the ADQ acquisition card, then trigger and timestamp information are added into the data, and the trigger and the timestamp information are split into batches of continuous samples, namely the so-called records, transmitting to a second user logic area, in which the data is composed of records, so that the data is batched, the DRAM (dynamic random access memory) controller and the DRAM FIFO (first in first out) are used as a buffer to process burst data, and ensure that no data is lost in the process of transmitting to a host, finally, larger full waveform data (. Out file) in the original data of the airborne laser radar is transmitted to a user application program of an image processor in a point-to-point streaming mode from a PCLE switch through a PCLE interface by a PCLE controller on a collecting card, the data is processed in a full waveform mode without passing through a random access memory in the CPU and occupying no random access memory resource, and then transferring the random access memory on the image processor to a user application program center of the image processor to process data to obtain distance information by deconvolution algorithm, waveform decomposition algorithm and the like, finally, transferring the data processed by the GPU back to a computer end to perform data fusion, and transferring the rotating mirror data stored on the FPGA at the same time, namely, tdm data, to a CPU through another interface of PCLE in a similar way to perform data calculation fusion, and meanwhile, directly sending the data to a PC end to perform calculation by virtue of a positioning and attitude determination module, namely pos data (. Pos), and finally, fusing three groups of data. And (3) calculating point cloud images of the airborne laser radar, and transmitting the processed point cloud image data with smaller data quantity to the ground end in real time through a 4G or 5G module of the wireless communication end. Compared with the prior art, the method can process the original data faster, and the processing speed is increased, so that the calculation speed of the point cloud of the airborne laser radar is increased, and the efficiency of the subsequent real-time wireless transmission to the ground terminal is higher.
It should be understood that the above description is not intended to limit the invention to the particular embodiments disclosed, but to limit the invention to the particular embodiments disclosed, and that the invention is not limited to the particular embodiments disclosed, but is intended to cover modifications, adaptations, additions and alternatives falling within the spirit and scope of the invention.
Claims (5)
1. An airborne lidar data real-time transmission system, comprising: the system comprises an ADQ acquisition card, a positioning and attitude determination module, a PC end, a wireless communication module, a GPU and a visual display end, wherein the ADQ acquisition card is connected with the PC end and the GPU module; the PC end is connected with the visual display end through the wireless communication module.
2. The airborne lidar data real-time transmission system of claim 1, wherein:
the ADQ acquisition card comprises: the ADC module comprises an ADC and an FPGA module; the FPGA module comprises: the system comprises a data acquisition module, a data processing module, a data storage module and a PCLE control module which are sequentially connected, wherein a first user logic area and a second user logic area are integrated in the data processing module, and a DRAM dynamic random access memory controller and a DRAM FIFO are integrated in the data storage module;
the PC end comprises: the PCLE switch, the RAM and the CPU are sequentially connected, and the PCLE control module is connected with the PCLE switch;
the wireless communication module is connected with the CPU and transmits data in the CPU to the visual display end;
the GPU comprises: RAM and GPU user applications connected to each other.
3. The method for transmitting the data of the airborne laser radar in real time by using the transmission system of any one of the claims 1 or 2 is characterized by comprising the following steps:
s1, collecting original data, wherein the original data comprises: full waveform data, turning mirror data, and POS data;
s2, performing digital-to-analog conversion on the full waveform data and the turning mirror data by using an ADC (analog-to-digital converter), transmitting the full waveform data and the turning mirror data to a first user logic area, and adding trigger information and a time stamp in the first user logic area;
POS data are transmitted to a CPU of a PC end, and carrier phase difference processing is carried out;
s3, transmitting the original data to a second user logic area, and carrying out data correction in the second user logic area;
s4, transmitting the corrected data to a first-in first-out module of the DRAM FIFO;
s5, the corrected full waveform data is transmitted to the GPU in a point-to-point streaming mode through a PCLE interface; at the same time, the corrected turning mirror data is transmitted to the CPU;
s6, processing the full waveform data to calculate distance information;
s7, calibrating an actual measured value by using initial placement parameters, and carrying out data fusion on rotating mirror data, POS data and calculated distance information;
s8, calibrating the placement parameters of the fused data, resolving the fused data, and finally outputting point cloud data;
and S9, transmitting the point cloud image data of the airborne laser radar to the ground through a 4G or 5G module of the wireless communication module in real time.
4. The method for transmitting data of airborne laser radar according to claim 3, wherein the step S6 specifically comprises the following steps:
s6.1, filtering and smoothing pretreatment is carried out on the full-wave data;
and S6.2, calculating the distance information by using a peak detection method and a deconvolution algorithm.
5. The method for transmitting data of airborne laser radar according to claim 3, wherein the step S8 specifically comprises the following steps:
s8.1, calibrating the placement parameters, and reducing placement errors;
s8.2, carrying out fusion calculation on the data;
s8.3, registering the alignment point cloud by utilizing an ICP algorithm, and converting coordinates;
s8.4, outputting an airborne laser radar point cloud image.
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| CN105093197A (en) * | 2015-07-27 | 2015-11-25 | 电子科技大学 | Parallel-radar multi-target association method |
| CN105137402A (en) * | 2015-08-19 | 2015-12-09 | 电子科技大学 | Airborne foresight scanning radar parallel processing method based on GPU |
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