CN117741651A - Rapid calibration method, system, equipment and medium based on multi-beam point cloud gesture - Google Patents
Rapid calibration method, system, equipment and medium based on multi-beam point cloud gesture Download PDFInfo
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Abstract
The invention provides a rapid calibration method, a system, equipment and a medium based on multi-beam point cloud gestures, wherein the method comprises the steps of selecting multi-beam measurement data and displaying a corresponding plane view and a corresponding three-dimensional view; setting a rectangle in the plane view, and displaying the plane section and the three-dimensional view of the selected area; adjusting posture correction parameters until the sections coincide; acquiring attitude correction parameters, applying the attitude correction parameters to all measurement data, and carrying out recalibration by adjusting the parameters; and when all the point clouds meet the precision requirement, applying the posture calibration result to all the multi-beam measurement data to finish the rapid posture calibration of the multi-beam point clouds. By using the method combining the plane view and the three-dimensional view, the attitude calibration of the point cloud data can be completed more quickly, and meanwhile, the method needs less line data, so that the workload of measurement and data collection is reduced. The point clouds with different colors are displayed through the cross lines of the plurality of measuring lines, so that the gesture condition of the point clouds can be observed more intuitively, and the calibration precision is improved.
Description
Technical Field
The invention relates to the technical field of ocean mapping, in particular to a method, a system, equipment and a medium for rapidly calibrating a gesture based on multi-beam point cloud.
Background
The multi-beam sounding detector is a device which uses a plurality of sound waves to emit out, reflect back to the seabed or an obstacle, and can receive signals and calculate the walking distance of the sound waves according to the received time. Because the plurality of sound waves are emitted simultaneously and are in a fan shape, the device has more attached covers than a single-beam sounding detector, has good efficiency and is an important instrument for sounding commonly used nowadays.
In the multi-beam sounding process, under the influence of wind and waves, the gesture of a measuring ship, namely the roll, the pitch and the heading, are dynamically changed in real time, and the gesture angle needs to be accurately calibrated in the measurement starting process so as to ensure the reality and effectiveness of a measurement result, and a plurality of independent measuring lines can be measured in the same direction or in opposite directions before measurement, such as: the opposite direction line can calculate the rolling deviation, and the same direction line can obtain the ship direction correction, etc., thereby achieving the effect of carrying out the posture calibration in real time or in the future and meeting the measurement precision requirement.
In the prior art, the calibration of roll, pitch and heading is generally performed by using multiple groups of measuring lines so as to ensure that the multi-beam point cloud data are aligned in the same coordinate system, and the method requires more measurement and calibration work and cannot perform quick calibration on the multi-beam point cloud gesture.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention provides a method, system, device and medium for fast calibration based on multi-beam point cloud gestures to solve the above-mentioned technical problems.
The invention provides a rapid calibration method based on multi-beam point cloud gestures, which comprises the following steps:
s1: selecting multi-beam measurement data, and displaying a plane view and a three-dimensional view of all the multi-beam measurement data, wherein the multi-beam measurement data comprises survey line round trip data;
s2: setting a rectangle in the plane view area, selecting the cross-section lines of a plurality of measuring lines, stretching the width of the other side of the rectangle through one side of the rectangle, taking the other side of the rectangle as the datum line of the section, and displaying the plane section of the selected area and the three-dimensional view of the selected area;
s3: in the plane section of the selected area, a plurality of line sections display point clouds with different colors, posture correction parameters are adjusted until the plane section of the selected area coincides, and meanwhile, the overlapping part of the heading is observed by observing a three-dimensional view of the selected area;
s4: acquiring attitude correction parameters, applying the attitude correction parameters to all multi-beam measurement data, repeatedly selecting overlapping point clouds of other plane view areas, checking whether layering or dislocation exists or not, and recalibrating by adjusting the attitude correction parameters;
s5: when all the point clouds meet the precision requirement, the gesture calibration result is applied to all the multi-beam measurement data, a plane view and a three-dimensional view are reconstructed, and the rapid calibration of the gesture of the multi-beam point cloud is completed.
In the present invention, in step S2, by disposing a rectangle in the planar view area, the inner plane of the rectangle cuts the line into a plurality of line cuts.
In the present invention, the posture correction parameters include: roll, pitch, heading.
In the invention, in step S4, the posture of the multi-beam point cloud in each PING multi-beam measurement data is corrected to obtain the corresponding posture correction parameters after the posture correction.
In the invention, the overlapping condition of the point clouds is checked through the side view of the multi-beam measurement data, and whether layering or dislocation exists is checked through the top view of the multi-beam measurement data.
The invention also provides a rapid calibration system based on the multi-beam point cloud gesture, which comprises:
and a display view module: selecting multi-beam measurement data, and displaying a plane view and a three-dimensional view of all the multi-beam measurement data, wherein the multi-beam measurement data comprises survey line round trip data;
setting a rectangular module: setting a rectangle in the plane view area, selecting the cross-section lines of a plurality of measuring lines, stretching the width of the other side of the rectangle through one side of the rectangle, taking the other side of the rectangle as the datum line of the section, and displaying the plane section of the selected area and the three-dimensional view of the selected area;
and an adjustment parameter module: in the plane section of the selected area, a plurality of line sections display point clouds with different colors, posture correction parameters are adjusted until the plane section of the selected area coincides, and meanwhile, the overlapping part of the heading is observed by observing a three-dimensional view of the selected area;
and (5) repeating an iteration module: acquiring attitude correction parameters, applying the attitude correction parameters to all multi-beam measurement data, repeatedly selecting overlapping point clouds of other plane view areas, checking whether layering or dislocation exists or not, and recalibrating by adjusting the attitude correction parameters;
and a rapid calibration module: when all the point clouds meet the precision requirement, the gesture calibration result is applied to all the multi-beam measurement data, a plane view and a three-dimensional view are reconstructed, and the rapid calibration of the gesture of the multi-beam point cloud is completed.
The invention also provides an electronic device comprising:
one or more processors;
storage means for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement the multi-beam point cloud based pose fast calibration method according to any of the preceding claims.
The present invention also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to perform the multi-beam point cloud based pose fast calibration method according to any of the above.
The invention provides a rapid calibration method, a system, equipment and a medium based on multi-beam point cloud gestures, wherein the method is characterized in that multi-beam measurement data are selected to display a plane view and a three-dimensional view of all the multi-beam measurement data, wherein the multi-beam measurement data comprise survey line round-trip data; setting a rectangle in the plane view area, selecting the cross-section lines of a plurality of measuring lines, stretching the width of the other side of the rectangle through one side of the rectangle, taking the other side of the rectangle as the datum line of the section, and displaying the plane section of the selected area and the three-dimensional view of the selected area; in the plane section of the selected area, a plurality of line sections display point clouds with different colors, posture correction parameters are adjusted until the plane section of the selected area coincides, and meanwhile, the overlapping part of the heading is observed by observing a three-dimensional view of the selected area; acquiring attitude correction parameters, applying the attitude correction parameters to all multi-beam measurement data, repeatedly selecting overlapping point clouds of other plane view areas, checking whether layering or dislocation exists or not, and recalibrating by adjusting the attitude correction parameters; when all the point clouds meet the precision requirement, the gesture calibration result is applied to all the multi-beam measurement data, a plane view and a three-dimensional view are reconstructed, and the rapid calibration of the gesture of the multi-beam point cloud is completed. The beneficial effects include:
1. and (3) quick calibration: by using the method combining the plane view and the three-dimensional view, the attitude calibration of the point cloud data can be completed more quickly, and compared with the traditional method, the calibration time is shortened.
2. The precision is improved: the point clouds with different colors are displayed through the cross lines of the plurality of measuring lines, so that the gesture condition of the point clouds can be observed more intuitively, and the calibration precision is improved.
3. Reducing measurement requirements: this approach may require less line data than traditional approaches, reducing the amount of measurement and data collection effort.
The foregoing description is only an overview of the technical solutions of the present application, and may be implemented according to the content of the specification in order to make the technical means of the present application more clearly understood, and in order to make the above-mentioned and other objects, features and advantages of the present application more clearly understood, the following detailed description of the present application will be given.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. In the drawings:
fig. 1 is a flow chart of a multi-beam point cloud based attitude fast calibration method according to an exemplary embodiment of the present invention;
fig. 2 is a plan view of multi-beam measurement data shown in an exemplary embodiment of the present invention;
fig. 3 is a three-dimensional view of multi-beam measurement data shown in an exemplary embodiment of the present invention;
fig. 4 is a side view and a top view of multi-beam measurement data shown in an exemplary embodiment of the present invention;
fig. 5 is a schematic structural diagram of a fast calibration system based on multi-beam point cloud gesture according to an exemplary embodiment of the present invention.
Detailed Description
Further advantages and effects of the present invention will become readily apparent to those skilled in the art from the disclosure herein, by referring to the accompanying drawings and the preferred embodiments. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be understood that the preferred embodiments are presented by way of illustration only and not by way of limitation.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
In the following description, numerous details are set forth in order to provide a more thorough explanation of embodiments of the present invention, it will be apparent, however, to one skilled in the art that embodiments of the present invention may be practiced without these specific details, in other embodiments, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring the embodiments of the present invention.
Firstly, it should be noted that the multi-beam sounding detector is a device which uses a plurality of sound waves to emit out, reflect back to the seabed or an obstacle, and can receive signals and calculate the distance travelled by the sound waves according to the received time. Because the plurality of sound waves are emitted simultaneously and are in a fan shape, the device has more attached covers than a single-beam sounding detector, has good efficiency and is an important instrument for sounding commonly used nowadays.
In the multi-beam sounding process, under the influence of wind and waves, the gesture of a measuring ship, namely the roll, the pitch and the heading, are dynamically changed in real time, and the gesture angle needs to be accurately calibrated in the measurement starting process so as to ensure the reality and effectiveness of a measurement result, and a plurality of independent measuring lines can be measured in the same direction or in opposite directions before measurement, such as: the opposite direction line can calculate the rolling deviation, and the same direction line can obtain the ship direction correction, etc., thereby achieving the effect of carrying out the posture calibration in real time or in the future and meeting the measurement precision requirement.
The traditional posture correction needs a pair of measuring lines for rolling, pitching and heading, for example, the existence of a rolling value can lead to errors in the conversion from the slant distance to the water depth, the size of the errors is closely related to the water depth, and the depth errors of the conversion from the water depth are larger. The roll values are corrected by requiring the seafloor topography to be flat, using the same ship speed on the same survey line, but measuring 2 sets of data in opposite directions. The 2 sets of measured water depth data are superimposed together and the difference in water depth measured from both the center beam to the edge beam is found to be increasing, taking the shape of an "X".
The presence of a pitch value, which is a function of the angle of rotation of the multibeam system along an axis perpendicular to the ship direction and the water depth, mainly affects the sounding position deviation. When correcting the pitching value, the seabed or slope with the characteristic feature is needed, the measuring line is arranged in the direction perpendicular to the characteristic feature or slope, and the two sets of data are measured, wherein the ship speeds are the same but opposite.
The existence of the heading value also affects the deviation of the sounding position, and the error of the edge beam is maximum, and the error of the central beam is negligible. When the course value is corrected, the seabed or slope of the characteristic feature is needed, two parallel measuring lines are arranged on the characteristic feature or in the direction vertical to the slope, the distance between the measuring lines is set to be 2 times of the water depth, and when data are acquired, the ship is measured to run according to the same course and the ship speed.
Therefore, in the conventional method, the calibration of roll, pitch and heading is performed by using multiple groups of measuring lines to ensure that the multi-beam point cloud data are aligned in the same coordinate system, and the method requires more measurement and calibration work and cannot perform quick calibration on the multi-beam point cloud pose. Based on the method, the system, the equipment and the medium for quickly calibrating the gesture based on the multi-beam point cloud are provided.
Fig. 1 is a flow chart of a multi-beam point cloud based attitude fast calibration method according to an exemplary embodiment of the present invention;
as shown in fig. 1, the method for quickly calibrating the pose based on the multi-beam point cloud provided by the invention comprises the following steps:
step S1: selecting multi-beam measurement data, and displaying a plane view and a three-dimensional view of all the multi-beam measurement data, wherein the multi-beam measurement data comprises survey line round trip data;
step S2: setting a rectangle in the plane view area, selecting the cross-section lines of a plurality of measuring lines, stretching the width of the other side of the rectangle through one side of the rectangle, taking the other side of the rectangle as the datum line of the section, and displaying the plane section of the selected area and the three-dimensional view of the selected area;
step S3: in the plane section of the selected area, a plurality of line sections display point clouds with different colors, posture correction parameters are adjusted until the plane section of the selected area coincides, and meanwhile, the overlapping part of the heading is observed by observing a three-dimensional view of the selected area;
step S4: acquiring attitude correction parameters, applying the attitude correction parameters to all multi-beam measurement data, repeatedly selecting overlapping point clouds of other plane view areas, checking whether layering or dislocation exists or not, and recalibrating by adjusting the attitude correction parameters;
step S5: when all the point clouds meet the precision requirement, the gesture calibration result is applied to all the multi-beam measurement data, a plane view and a three-dimensional view are reconstructed, and the rapid calibration of the gesture of the multi-beam point cloud is completed.
Specifically, in step S1, the multi-beam measurement data is converted into a visualized plan view and a three-dimensional view by using point cloud processing software. Fig. 2 is a plan view of multi-beam measurement data shown in an exemplary embodiment of the present invention; fig. 3 is a three-dimensional view of multi-beam measurement data shown in an exemplary embodiment of the present invention.
As shown in fig. 2 and 3, by using the point cloud processing software to convert the multi-beam measurement data into a visualized planar view and a three-dimensional view, the planar structure and the stereoscopic structure of the point cloud data can be intuitively checked, and the distribution and the shape of the data can be better understood. Further, the multi-beam measurement data comprises line round trip data, the accurate position of the place can be determined through the line, and the elevation, gradient and topography of the ground surface can be analyzed.
In step S2, a rectangle is set in the plane view area, and a specific area in the multi-beam measurement data is selected by setting a rectangle in the plane view area, where the area includes point cloud data that needs to be calibrated in terms of posture, so that the inner plane of the rectangle cuts the measuring line into a plurality of measuring line sections. This step helps define the range of calibration, reducing the amount of data processed, and thus improving efficiency. The selection of a cross-section of multiple lines represents the point cloud data of the multiple lines that were truncated within this rectangular area. These stubs are shown in planar cross-section at the selected area. One side of this rectangle will act as a reference line for the profile, i.e. the calibrated reference axis. Stretching of the other edges affects the point cloud data on the reference line. This is to match the point cloud data with a three-dimensional view of the selected region. By displaying a planar cross-section of the selected area with a three-dimensional view of the selected area. These two views are used to observe the shape and pose of the point cloud data. The point clouds of the plurality of lines can be viewed in a planar cross section while viewing the volumetric shape of the data in a three-dimensional view.
In step S3, the attitude correction parameters need to be adjusted so that the point clouds in the plane section of the selected area coincide. The posture correction parameters include: roll, pitch, heading corrections, and by adjusting these parameters, attitude-related errors such as roll, pitch, heading angle, etc. are corrected to facilitate point cloud data alignment. At the same time, it is also necessary to observe the three-dimensional view of the selected region to observe the heading (horizontal) overlapping portion of the point cloud data in the three-dimensional space. This is to ensure that the point cloud data is properly aligned in three-dimensional space. If there is an aerial misalignment in the three-dimensional view, the correction can be made by adjusting the attitude correction parameters.
In step S4, the point cloud data has been correctly aligned within a specific area by the adjustment operation in step S3. The obtained posture correction parameter is a numerical value for correcting the posture of the point cloud data. These parameters will be applied to all of the multi-beam measurement data to make attitude corrections thereto. This will ensure that not only is the point cloud data aligned within one region, but the pose of the entire dataset is calibrated. The point cloud data within these selected areas is checked to see if layering or misalignment exists. The hierarchy represents misalignment of the point cloud in altitude, while the misalignment represents misalignment in horizontal or heading. Furthermore, the overlapping condition of the point clouds is checked through the side view of the multi-beam measurement data, and whether layering or dislocation exists is checked through the top view of the multi-beam measurement data. Fig. 4 is a side view and a top view of multi-beam measurement data shown in an exemplary embodiment of the present invention; as shown in fig. 4, by observing a side view of the multi-beam measurement data, the point cloud overlapping condition can be checked, and by observing a top view of the multi-beam measurement data, whether or not the delamination or dislocation phenomenon exists can be checked.
If these problems exist, further adjustments to the attitude correction parameters are required to fix them. If delamination or misalignment is found in other areas, it will be repaired by readjusting the attitude correction parameters. This is a iterative process until all the point cloud data meet the required calibration accuracy. And correcting the posture of the multi-beam point cloud in the multi-beam measurement data of each PING to obtain corresponding posture correction parameters after posture correction.
In step S5, the previously completed pose calibration result is applied to the entire multi-beam point cloud data set, and then the planar view and the three-dimensional view are reconstructed to complete the rapid calibration of the multi-beam point cloud pose. By applying the previously obtained pose correction parameters to the entire multi-beam measurement dataset, it is ensured that the point clouds of the entire dataset have the same calibration pose. To generating new planar and three-dimensional views, the point cloud data in which are both gesture-calibrated. Providing a calibrated visual presentation makes the data easier to analyze and use. And completing the rapid calibration of the multi-beam point cloud gesture.
Fig. 5 is a schematic structural diagram of a fast calibration system based on multi-beam point cloud gesture according to an exemplary embodiment of the present invention;
as shown in fig. 5, the exemplary multi-beam point cloud based attitude fast calibration system includes:
and a display view module: selecting multi-beam measurement data, and displaying a plane view and a three-dimensional view of all the multi-beam measurement data, wherein the multi-beam measurement data comprises survey line round trip data;
setting a rectangular module: setting a rectangle in the plane view area, selecting the cross-section lines of a plurality of measuring lines, stretching the width of the other side of the rectangle through one side of the rectangle, taking the other side of the rectangle as the datum line of the section, and displaying the plane section of the selected area and the three-dimensional view of the selected area;
and an adjustment parameter module: in the plane section of the selected area, a plurality of line sections display point clouds with different colors, posture correction parameters are adjusted until the plane section of the selected area coincides, and meanwhile, the overlapping part of the heading is observed by observing a three-dimensional view of the selected area;
and (5) repeating an iteration module: acquiring attitude correction parameters, applying the attitude correction parameters to all multi-beam measurement data, repeatedly selecting overlapping point clouds of other plane view areas, checking whether layering or dislocation exists or not, and recalibrating by adjusting the attitude correction parameters;
and a rapid calibration module: when all the point clouds meet the precision requirement, the gesture calibration result is applied to all the multi-beam measurement data, a plane view and a three-dimensional view are reconstructed, and the rapid calibration of the gesture of the multi-beam point cloud is completed.
It should be noted that, the rapid calibration system based on the multi-beam point cloud provided in the foregoing embodiment and the rapid calibration method based on the multi-beam point cloud provided in the foregoing embodiment belong to the same concept, and the specific manner in which each module and unit perform the operation has been described in detail in the method embodiment, which is not repeated herein. In practical application, the rapid calibration system based on the multi-beam point cloud gesture provided in the above embodiment may distribute the functions to be completed by different functional modules according to needs, that is, the internal structure of the system is divided into different functional modules to complete all or part of the functions described above, which is not limited herein.
The embodiment of the application also provides electronic equipment, which comprises: one or more processors; and the storage device is used for storing one or more programs, and when the one or more programs are executed by the one or more processors, the electronic equipment realizes the rapid calibration method based on the multi-beam point cloud gesture provided in the various embodiments.
The embodiment of the application also provides a computer system of the electronic equipment. It should be noted that the computer system of the electronic device is only an example, and should not impose any limitation on the functions and the application scope of the embodiments of the present application.
In particular, the computer system includes a central processing unit (Central Processing Unit, CPU) that can perform various appropriate actions and processes, such as performing the methods described in the above embodiments, according to a program stored in a Read-Only Memory (ROM) or a program loaded from a storage section into a random access Memory (Random Access Memory, RAM). In the RAM, various programs and data required for the system operation are also stored. The CPU, ROM and RAM are connected to each other by a bus. An Input/Output (I/O) interface is also connected to the bus.
The following components are connected to the I/O interface: an input section including a keyboard, a mouse, etc.; an output section including a Cathode Ray Tube (CRT), a liquid crystal display (Liquid Crystal Display, LCD), and the like, and a speaker, and the like; a storage section including a hard disk or the like; and a communication section including a network interface card such as a LAN (Local Area Network ) card, a modem, or the like. The communication section performs communication processing via a network such as the internet. The drives are also connected to the I/O interfaces as needed. Removable media such as magnetic disks, optical disks, magneto-optical disks, semiconductor memories, and the like are mounted on the drive as needed so that a computer program read therefrom is mounted into the storage section as needed.
In particular, according to embodiments of the present application, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method shown in the flowchart. In such embodiments, the computer program may be downloaded and installed from a network via a communication portion, and/or installed from a removable medium. When executed by a Central Processing Unit (CPU), performs the various functions defined in the system of the present application.
It should be noted that, the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-Only Memory (ROM), an erasable programmable read-Only Memory (Erasable Programmable Read Only Memory, EPROM), flash Memory, an optical fiber, a portable compact disc read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with a computer-readable computer program embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The units involved in the embodiments of the present application may be implemented by means of software, or may be implemented by means of hardware, and the described units may also be provided in a processor. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.
Another aspect of the present application also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a multi-beam point cloud pose based rapid calibration method as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment or may exist alone without being incorporated in the electronic device.
Another aspect of the present application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the multi-beam point cloud-based rapid calibration method provided in the above embodiments.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. It is therefore intended that all equivalent modifications and changes made by those skilled in the art without departing from the spirit and technical spirit of the present invention shall be covered by the appended claims.
Claims (8)
1. The rapid calibration method based on the multi-beam point cloud gesture is characterized by comprising the following steps of:
s1: selecting multi-beam measurement data, and displaying a plane view and a three-dimensional view of all the multi-beam measurement data, wherein the multi-beam measurement data comprises survey line round trip data;
s2: setting a rectangle in the plane view area, selecting the cross-section lines of a plurality of measuring lines, stretching the width of the other side of the rectangle through one side of the rectangle, taking the other side of the rectangle as the datum line of the section, and displaying the plane section of the selected area and the three-dimensional view of the selected area;
s3: in the plane section of the selected area, a plurality of line sections display point clouds with different colors, posture correction parameters are adjusted until the plane section of the selected area coincides, and meanwhile, the overlapping part of the heading is observed by observing a three-dimensional view of the selected area;
s4: acquiring attitude correction parameters, applying the attitude correction parameters to all multi-beam measurement data, repeatedly selecting overlapping point clouds of other plane view areas, checking whether layering or dislocation exists or not, and recalibrating by adjusting the attitude correction parameters;
s5: when all the point clouds meet the precision requirement, the gesture calibration result is applied to all the multi-beam measurement data, a plane view and a three-dimensional view are reconstructed, and the rapid calibration of the gesture of the multi-beam point cloud is completed.
2. The rapid calibration method based on multi-beam point cloud gestures according to claim 1, wherein in step S2, the inner plane of the rectangle cuts the measuring line into a plurality of measuring line cut lines by setting a rectangle in the plane view area.
3. The multi-beam point cloud based attitude quick calibration method according to claim 1, wherein the attitude correction parameters include: roll, pitch, heading.
4. The method according to claim 3, wherein in step S4, the posture correction parameters corresponding to the corrected posture are obtained by correcting the posture of the multi-beam point cloud in the multi-beam measurement data of each PING.
5. The rapid calibration method based on the multi-beam point cloud posture according to claim 1, wherein the overlapping condition of the point clouds is checked through a side view of the multi-beam measurement data, and whether layering or dislocation exists is checked through a top view of the multi-beam measurement data.
6. Rapid calibration system based on multi-beam point cloud gesture, characterized by comprising:
and a display view module: selecting multi-beam measurement data, and displaying a plane view and a three-dimensional view of all the multi-beam measurement data, wherein the multi-beam measurement data comprises survey line round trip data;
setting a rectangular module: setting a rectangle in the plane view area, selecting the cross-section lines of a plurality of measuring lines, stretching the width of the other side of the rectangle through one side of the rectangle, taking the other side of the rectangle as the datum line of the section, and displaying the plane section of the selected area and the three-dimensional view of the selected area;
and an adjustment parameter module: in the plane section of the selected area, a plurality of line sections display point clouds with different colors, posture correction parameters are adjusted until the plane section of the selected area coincides, and meanwhile, the overlapping part of the heading is observed by observing a three-dimensional view of the selected area;
and (5) repeating an iteration module: acquiring attitude correction parameters, applying the attitude correction parameters to all multi-beam measurement data, repeatedly selecting overlapping point clouds of other plane view areas, checking whether layering or dislocation exists or not, and recalibrating by adjusting the attitude correction parameters;
and a rapid calibration module: when all the point clouds meet the precision requirement, the gesture calibration result is applied to all the multi-beam measurement data, a plane view and a three-dimensional view are reconstructed, and the rapid calibration of the gesture of the multi-beam point cloud is completed.
7. An electronic device, the electronic device comprising:
one or more processors;
storage means for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement the multi-beam point cloud based pose fast calibration method of any of claims 1 to 5.
8. A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to perform the multi-beam point cloud based pose fast calibration method according to any of claims 1 to 5.
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