CN203224625U - Positioning accuracy detection device of high-accuracy airborne laser radar system - Google Patents
Positioning accuracy detection device of high-accuracy airborne laser radar system Download PDFInfo
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- CN203224625U CN203224625U CN 201320089934 CN201320089934U CN203224625U CN 203224625 U CN203224625 U CN 203224625U CN 201320089934 CN201320089934 CN 201320089934 CN 201320089934 U CN201320089934 U CN 201320089934U CN 203224625 U CN203224625 U CN 203224625U
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Abstract
The utility model discloses a positioning accuracy detection device of a high-accuracy airborne laser radar system. The positioning accuracy detection device comprises a GPS receiver support, a GPS receiver, detection lever side supports, a first laser footprint detection lever, a second laser footprint detection lever and a detection lever center support, wherein the GPS receiver is fixed on the GPS receiver support, the GPS receiver support is provided with a GPS receiver leveling mechanism, a plurality of detection lever side supports support the first and the second laser footprint detection levers at the same level, one end of the first laser footprint detection lever and one end of the second laser footprint detection lever are jointly connected with the detection lever center support, and the included angle between the first laser footprint detection lever and the second laser footprint detection lever is 90 degrees or greater. Therefore, the positioning accuracy detection device of the high-accuracy airborne laser radar system achieves advantages of simple operation and small measurement errors, and facilitates use in the wild.
Description
Technical field
The utility model relates to the laser radar positioning field, particularly, relates to the bearing accuracy pick-up unit of a kind of high precision airborne laser radar system.
Background technology
At present, laser radar (LiDAR) system is a kind of laser ranging, GPS, inertial navigation system technology and high resolving power digital imaging technique active recording geometry that is used for obtaining fast the three-dimensional high spatial resolution of ground and terrain object of melting.In nearly ten years, airborne LiDAR technology is generally accepted in world developed country as a kind of method of obtaining face of land three-dimensional information accurately and fast, at numerous areas such as landform monitoring, environmental monitoring, three-dimensional test modelings vast potential for future development and application demand (Ackeman F are arranged, et al, Airborne laser scanning-present status and future expectation. ISPRS JPRS, 1999 (54): 64-67).
The bearing accuracy of laser radar system generally merges the DOM that generates or the essence of judging laser point cloud by searching characters of ground object point from laser point cloud by laser point cloud and digital image in actual engineering.Before a kind of method introduced generation DOM, therefore have registration error and the DOM image pixel Size Error of laser point cloud and digital image, bearing accuracy that therefore can only coarse low evaluation laser point cloud, error is in the decimetre rank.A kind of method in back owing to the size of characteristic body and whether judge face or line whether the reasons such as error of rule, laser point cloud density and laser pin point and reflection spot make the accuracy of judging characteristic point also have error, the density of ray laser point cloud or the task error when looking for unique point on the spot have about 10cm in this method.
The utility model content
The purpose of this utility model is, at the problems referred to above, proposes the bearing accuracy pick-up unit of a kind of high precision airborne laser radar system, advantage simple to operate to realize, that measuring error is little.
For achieving the above object, the technical solution adopted in the utility model is:
The bearing accuracy pick-up unit of a kind of high precision airborne laser radar system, comprise GPS receiver bracing frame, the GPS receiver, test rod limit bracing frame, the first laser pin point test rod, the second laser pin point test rod and test rod central supported frame, described GPS receiver is packed on the GPS receiver bracing frame, on the described GPS receiver bracing frame GPS receiver level(l)ing mechanism is set, described test rod limit bracing frame is a plurality of, a plurality of test rods limit bracing frame is supported on the first laser pin point test rod and the second laser pin point test rod on the surface level, one end of one end of the described first laser pin point test rod and the second laser pin point test rod meets on the test rod central supported frame, angle 〉=90 between the described first laser pin point test rod and the second laser pin point test rod °.
According to preferred embodiment of the present utility model, the described first laser pin point test rod and the second laser pin point test rod are fixed on the test rod central supported frame by tommy.
According to preferred embodiment of the present utility model, the angle between the described first laser pin point test rod and the second laser pin point test rod is 90 °.
According to preferred embodiment of the present utility model, the GPS receiver phase central horizontal alignment point of described GPS receiver bracing frame and test rod limit bracing frame is on the same vertical line.
Simultaneously the technical solution of the utility model also discloses the detection method of the bearing accuracy pick-up unit of a kind of high precision airborne laser radar system, may further comprise the steps:
A, set up the bearing accuracy pick-up unit of many above-mentioned high precision airborne laser radar systems at measurement zone, hereinafter the bearing accuracy pick-up unit of high precision airborne laser radar system abbreviates the bearing accuracy pick-up unit as, each bearing accuracy pick-up unit is a GPS static view measuring point;
B, utilize the above-mentioned bearing accuracy pick-up unit that sets up to gather the static observation data of GPS of measurement zone, and the GPS static view measuring point of selected one of them collection of above-mentioned a plurality of bearing accuracy pick-up unit is reference point, utilize the static observation data of GPS of above-mentioned collection to do adjustment processing to setting up GPS static view measuring point, obtain the coordinate of these GPS static view measuring points;
C, with the coordinate of the GPS static view measuring point of above-mentioned acquisition as benchmark, isolate the detected laser point cloud data of laser pin point test rod, and deposit by the detection mode grouping;
D, obtain the accurate coordinates of each GPS static view measuring point according to above-mentioned laser point cloud data.
According to preferred embodiment of the present utility model, the accurate coordinates of above-mentioned calculating GPS static view measuring point may further comprise the steps:
Choose one group of laser point cloud data, remove this group laser point cloud data of match with straight-line equation Ax+By+Cz=0, and coefficient A, B, C in the equation of asking make equation
The value minimum, di refers to that the laser pin puts the distance of straight-line equation Ax+By+cZ=0 in the formula;
Try to achieve above-mentioned straight-line equation Ax+By+Cz=0 at the projection straight line equation ax+by=0 on XY plane, adjusting equation coefficient a and b then is a1 and b1, and it is equal substantially to make the subpoint of above-mentioned laser point cloud data on the XY plane be distributed in the number on straight line a1x+b1y=0 both sides;
Obtain same check point another group laser point cloud fitting a straight line equation A2x+B2y+C2Z=0 and at the a2x+b2y=0 of projection equation on XY plane;
The intersection point of solving equation a1x+b1y=0 and equation a2x+b2y=0 is as the planimetric coordinates of this checkpoint;
The elevation coordinate of this GPS static view measuring point then obtains by the terrain clearance of measuring test rod limit bracing frame; Height coordinate in the GPS static view measuring point coordinate that obtains is deducted the difference in height that the terrain clearance of test rod limit bracing frame is obtained, be the height coordinate of GPS static view measuring point.
The beneficial effects of the utility model are: the technical solution of the utility model is by intersecting two big slenderness ratios of placing, the high reflectance first laser pin point test rod and the second laser pin point test rod as the laser point cloud test rod and the theoretical intersection point of crossbar as laser radar bearing accuracy checkpoint, after aircraft carries the data acquisition of laser radar finished item, two groups of laser point clouds that record according to two crossbars that set up, utilize least square method to simulate two straight-line equations of these two groups of laser point clouds respectively, obtain these two straight lines then at the projection straight line equation of surface level and try to achieve the coordinate of these two projection straight line intersection points as the planimetric coordinates of laser radar bearing accuracy checkpoint, the height coordinate of the laser radar bearing accuracy checkpoint then radius of the height by measuring the central supported frame and test rod obtains; Obtain the laser radar bearing accuracy of this point then by the error that relatively is placed on simultaneous observation GPS base station coordinates directly over the central supported frame and laser radar bearing accuracy check point coordinates.Thereby realize advantage simple to operate, that measuring error is little, simultaneously convenient open-air the use.
Below by drawings and Examples, the technical solution of the utility model is described in further detail.
Description of drawings
Fig. 1 is the structural representation of the bearing accuracy pick-up unit of the described high precision airborne laser radar of the utility model embodiment system;
Fig. 2 is the enlarged drawing at C place in the bearing accuracy pick-up unit of high precision airborne laser radar system shown in Figure 1.
By reference to the accompanying drawings, Reference numeral is as follows among the utility model embodiment:
1-GPS receiver bracing frame; 2-GPS receiver level(l)ing mechanism; 3-GPS receiver; 4,7,11,12-test rod limit bracing frame; The 5-first laser pin point test rod; 6-test rod central supported frame; 8-tommy; 9-GPS receiver phase central horizontal alignment point; The 10-second laser pin point test rod.
Embodiment
Below in conjunction with accompanying drawing preferred embodiment of the present utility model is described, should be appreciated that preferred embodiment described herein only is used for description and interpretation the utility model, and be not used in restriction the utility model.
As Fig. 1, shown in Figure 2, the bearing accuracy pick-up unit of a kind of high precision airborne laser radar system, comprise GPS receiver bracing frame, the GPS receiver, test rod limit bracing frame, the first laser pin point test rod, the second laser pin point test rod and test rod central supported frame, the GPS receiver is packed on the GPS receiver bracing frame, GPS receiver level(l)ing mechanism is set on the GPS receiver bracing frame, test rod limit bracing frame is 4, also can increase and decrease according to environment, 4 test rod limit bracing frames are supported on the first laser pin point test rod and the second laser pin point test rod on the surface level, one end of one end of the first laser pin point test rod and the second laser pin point test rod meets on the test rod central supported frame, angle 〉=90 between the first laser pin point test rod and the second laser pin point test rod °, this place is set to 90 °
Wherein, the first laser pin point test rod and the second laser pin point test rod are fixed on the test rod central supported frame by tommy.The GPS receiver phase central horizontal alignment point of GPS receiver bracing frame and test rod limit bracing frame is on the same vertical line.
The detection method of the bearing accuracy pick-up unit of a kind of high precision airborne laser radar system may further comprise the steps:
A, set up the bearing accuracy pick-up unit of many above-mentioned high precision airborne laser radar systems at measurement zone, hereinafter the bearing accuracy pick-up unit of high precision airborne laser radar system abbreviates the bearing accuracy pick-up unit as, each bearing accuracy pick-up unit is a GPS static view measuring point;
B, utilize the above-mentioned bearing accuracy pick-up unit that sets up to gather the static observation data of GPS of measurement zone, and the GPS static view measuring point of selected one of them collection of above-mentioned a plurality of bearing accuracy pick-up unit is reference point, utilize the static observation data of GPS of above-mentioned collection to do adjustment processing to setting up GPS static view measuring point, obtain the coordinate of these GPS static view measuring points;
C, with the coordinate of the GPS static view measuring point of above-mentioned acquisition as benchmark, isolate the detected laser point cloud data of laser pin point test rod, and deposit by the detection mode grouping;
D, obtain the accurate coordinates of each GPS static view measuring point according to above-mentioned laser point cloud data.
Wherein, calculate the accurate coordinates of GPS static view measuring point, may further comprise the steps:
Choose one group of laser point cloud data, remove this group laser point cloud data of match with straight-line equation Ax+By+Cz=0, and coefficient A, B, C in the equation of asking make equation
The value minimum, di refers to that the laser pin puts the distance of straight-line equation Ax+By+cZ=0 in the formula;
Try to achieve above-mentioned straight-line equation Ax+By+Cz=0 at the projection straight line equation ax+by=0 on XY plane, adjusting equation coefficient a and b then is a1 and b1, and it is equal substantially to make the subpoint of above-mentioned laser point cloud data on the XY plane be distributed in the number on straight line a1x+b1y=0 both sides;
Obtain same check point another group laser point cloud fitting a straight line equation A2x+B2y+C2Z=0 and at the a2x+b2y=0 of projection equation on XY plane;
The intersection point of solving equation a1x+b1y=0 and equation a2x+b2y=0 is as the planimetric coordinates of this checkpoint;
The elevation coordinate of this GPS static view measuring point then obtains by the terrain clearance of measuring test rod limit bracing frame; Height coordinate in the GPS static view measuring point coordinate that obtains is deducted the difference in height that the terrain clearance of test rod limit bracing frame is obtained, be the height coordinate of GPS static view measuring point.
Its concrete installation and measuring process are as follows:
1. look for the more smooth open ground of some row (for RTK or the synchronous observed data quality in GPS base station are good later on, preferably selecting the good ground of GPS acknowledge(ment) signal) earlier in the survey district;
2. test rod limit bracing frame 4, test rod central supported frame 6, test rod limit bracing frame 7, test rod limit bracing frame 11 and test rod limit bracing frame 12 are stably set up on the ground according to the length of test rod, and make test rod limit bracing frame 4, test rod central supported frame 6, test rod limit bracing frame 7, form straight line,, test rod central supported frame 6, test rod limit bracing frame 11 and test rod limit bracing frame 12 form another straight lines, and guarantee that two straight lines are crossing and form one than mitre, such as 90 ° of angles;
3. laser pin point test rod 5 is placed on test rod limit bracing frame 4, test rod central supported frame 6, test rod limit bracing frame 7;
4. laser pin point test rod 10 is placed on test rod central supported frame 6, test rod limit bracing frame 11 and the test rod limit bracing frame 12;
5. with tommy 8 laser pin point test rod 5 and laser pin point test rod 10 are positioned on the test rod central supported frame 6;
6. GPS receiver bracing frame 1 is erected at the top of test rod central supported frame 6, and makes the GPS receiver phase central horizontal alignment point 9 on its center pit rough alignment test rod central supported frame 6;
7. GPS receiver level(l)ing mechanism 2 is erected on the GPS receiver bracing frame 1, and three adjusting knobs that prop up leg length and GPS receiver level(l)ing mechanism 2 on the adjusting GPS receiver bracing frame 1, make GPS receiver level(l)ing mechanism 2 be horizontal (concrete control method is with reference to the relevant erection method of GPS base station) substantially;
8. the mobile GPS receivers level(l)ing mechanism 2, make the center directly over the GPS receiver phase central horizontal alignment point 9 on the test rod central supported frame 6 by its telescope, and locking GPS receiver level(l)ing mechanism 2;
9. GPS receiver 3 is erected on the GPS receiver level(l)ing mechanism 2, and measures the high sheet of survey of GPS receiver to the distance of GPS receiver phase central horizontal alignment point 9, be designated as Δ H;
10. start GPS receiver receiving satellite signal with static observing pattern;
11. repeating step 2 ~ 10 is finished the work of setting up of the pick-up unit of other check point;
12. the startup laser radar system, and allow flying platform carry the data collection task that laser radar system is finished the survey district, also finished the laser point cloud collecting work of check point in passing;
13. be reference point with known point or one of them GPS static view measuring point, utilize the static observation data of the GPS that has gathered to do adjustment processing to setting up GPS static view measuring point, and obtain the coordinate at these check points (reference mark in other words);
14. the coordinate of the check point that obtains with step 13 resolves laser point cloud data, and utilizes laser point cloud process software (such as TerreaSolid) to isolate the detected laser point cloud of laser pin point test rod, and divide into groups to deposit by detection mode as benchmark;
15. choose one group of laser point cloud data, remove this group laser point cloud data of match with straight-line equation Ax+By+Cz=0, and coefficient A, B, C in the equation of asking make equation
The value minimum, the di in the formula refers to that the laser pin puts the distance of straight-line equation Ax+By+cZ=0;
16. try to achieve straight-line equation Ax+By+Cz=0 at the projection straight line equation ax+by=0 on XY plane, adjusting equation coefficient a and b then is a1 and b1, and it is equal substantially to make the subpoint of laser point cloud data on the XY plane in the step 15 be distributed in the number on straight line a1x+b1y=0 both sides;
17. repeating step 15 ~ 16, obtain same check point another group laser point cloud fitting a straight line equation A2x+B2y+C2Z=0 and at the a2x+b2y=0 of projection equation on XY plane;
18. the intersection point of solving equation a1x+b1y=0 and equation a2x+b2y=0 is as the planimetric coordinates of this checkpoint, the elevation coordinate of this checkpoint then obtains by the terrain clearance of measuring test rod central supported frame 6;
19. the elevation coordinate in the reference mark coordinate of step 13 acquisition is deducted the coordinate of the difference in height acquisition of measuring as the true value of this checkpoint when setting up this pick-up unit;
20. calculation procedure 18 and step 19 obtain plane difference and elevation difference, as the laser point cloud accuracy value of this checkpoint;
21. repeating step 15 ~ 20, ask the laser point cloud accuracy value at all pick-up unit places of setting up, whole survey district, and calculate the root-mean-square value, maximal value, minimum value, mean value of these checkpoints as the laser point cloud accuracy assessment index in this survey district.
In this embodiment, if not having enough GPS receivers uses as the base station, also can replace the coordinate true value of this checkpoint by the coordinate of measuring the GPS receiver phase central horizontal alignment point 9 on the test rod central supported frame 6 with the RTK mode, just its precision slightly reduces.
In this embodiment, if the GPS receiver phase central horizontal alignment point 9 on the test rod central supported frame 6 be erected at known point directly over, then can be with the coordinate of known point as true value, processing procedure is similar.
It should be noted that at last: the above only is preferred embodiment of the present utility model, be not limited to the utility model, although with reference to previous embodiment the utility model is had been described in detail, for a person skilled in the art, it still can be made amendment to the technical scheme that aforementioned each embodiment puts down in writing, and perhaps part technical characterictic wherein is equal to replacement.All within spirit of the present utility model and principle, any modification of doing, be equal to replacement, improvement etc., all should be included within the protection domain of the present utility model.
Claims (4)
1. the bearing accuracy pick-up unit of a high precision airborne laser radar system, it is characterized in that, comprise GPS receiver bracing frame, the GPS receiver, test rod limit bracing frame, the first laser pin point test rod, the second laser pin point test rod and test rod central supported frame, described GPS receiver is packed on the GPS receiver bracing frame, on the described GPS receiver bracing frame GPS receiver level(l)ing mechanism is set, described test rod limit bracing frame is a plurality of, a plurality of test rods limit bracing frame is supported on the first laser pin point test rod and the second laser pin point test rod on the surface level, one end of one end of the described first laser pin point test rod and the second laser pin point test rod meets on the test rod central supported frame, angle 〉=90 between the described first laser pin point test rod and the second laser pin point test rod °.
2. the bearing accuracy pick-up unit of high precision airborne laser radar according to claim 1 system is characterized in that the described first laser pin point test rod and the second laser pin point test rod are fixed on the test rod central supported frame by tommy.
3. the bearing accuracy pick-up unit of high precision airborne laser radar according to claim 1 and 2 system is characterized in that the angle between the described first laser pin point test rod and the second laser pin point test rod is 90 °.
4. the bearing accuracy pick-up unit of high precision airborne laser radar according to claim 3 system is characterized in that the GPS receiver phase central horizontal alignment point of described GPS receiver bracing frame and test rod limit bracing frame is on the same vertical line.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103176180A (en) * | 2013-02-27 | 2013-06-26 | 四川省科学城久利科技实业有限责任公司 | Device and method for detecting positioning precision of high-precision airborne laser radar system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103176180A (en) * | 2013-02-27 | 2013-06-26 | 四川省科学城久利科技实业有限责任公司 | Device and method for detecting positioning precision of high-precision airborne laser radar system |
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| CB03 | Change of inventor or designer information |
Inventor after: Han Xiaoyan Inventor after: Pan Wenwu Inventor after: Hu Can Inventor after: Tang Dan Inventor after: Song Liang Inventor after: Dou Yanjuan Inventor after: Wang Xin Inventor after: Tang Hailong Inventor after: He Yanlong Inventor before: He Xingrong Inventor before: Li Shiping Inventor before: Li Lu Inventor before: Qu Ming Inventor before: Xiao Qifan Inventor before: Fan Qiang |
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| CF01 | Termination of patent right due to non-payment of annual fee |