CN206224609U - Air Ground Integration System for obtaining digital city outdoor scene three-dimensional modeling data - Google Patents
Air Ground Integration System for obtaining digital city outdoor scene three-dimensional modeling data Download PDFInfo
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- CN206224609U CN206224609U CN201620939472.8U CN201620939472U CN206224609U CN 206224609 U CN206224609 U CN 206224609U CN 201620939472 U CN201620939472 U CN 201620939472U CN 206224609 U CN206224609 U CN 206224609U
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Abstract
The utility model is related to dimensional Modeling Technology field, discloses a kind of Air Ground Integration System for obtaining digital city outdoor scene three-dimensional modeling data.Organically merged with ground moving vehicle load measurement by by aviation oblique photograph measurement, aviation oblique photograph can to greatest extent be made up in subaerial deficiency, ground moving vehicle load measurement is given full play in subaerial advantage, and then quick obtaining is true, the complete clear, high accuracy of total factor, details and high-quality cybercity construction data, is that significant contribution is made in the quick production of digital city outdoor scene threedimensional model.Additionally, the Air Ground Integration System also has the advantages that small acquisition modes workload, low cost and cycle is short, the quick obtaining of city large scene outdoor scene three-dimensional modeling data is can be widely applied to.
Description
Technical field
The utility model is related to dimensional Modeling Technology field, in particular it relates to a kind of for obtaining digital city outdoor scene three
Tie up the Air Ground Integration System of modeling data.
Background technology
With " digital city ", " smart city ", city planning and administration, construction landscape design, three-dimensional navigation and trip
To the demand of the true threedimensional model in city, the urban three dimensional landscape that quickly setting up has real-texture increasingly highlights higher for trip exploitation etc.
Economic worth and application prospect.However, wanting quickly to set up outdoor scene three-dimensional digital city model, it is critical only that quick obtaining is true
The complete clear, high accuracy of reality, total factor, details and high-quality cybercity construction data.Cybercity construction data
Obtain the main acquisition including geometrical model information and real-texture information data.
The acquisition of traditional cities three-dimensional modeling data, mainly manually collects various topographic maps, altitude data and image, searches
The collection time is long and is difficult to obtain complete data.Texture information data are typically obtained by the digital photo of artificial ground acquisition
.Geological information data are extracted by topographic map, cadaster or DOM, and elevation information passes through full digital photogrammetric system
System is obtained, and indivedual required precisions area higher is then by artificial ground using device measurings such as total powerstations.It is characterized in:Number
Low according to height accuracy, engineering fabrication cycle is long, and cost of investment is big;But it also has flexible, scene succinct and process is simple
Advantage, is adapted to carry out three-dimensional modeling data acquisition under conditions of in small range, without trend of the times topographic map or image data, it is clear that uncomfortable
For the acquisition of city large scene outdoor scene three-dimensional modeling data.
At present, the acquisition of three-dimensional digital city modeling data on a large scale is mainly by traditional aerophotogrammetry come real
It is existing, by being then based on the imaging mode of vertical photography, the spatial positional information and top texture information data of atural object can only be obtained,
The mode of photography collection on the spot that the facade textures information data of atural object also needs to by wasting time and energy is obtained, and this has resulted in image
The acquisition modes of data have differences and terrestrial object information data acquisition time irreversibility.With aerial image observation technology
Occur, traditional aerophotogrammetry is just being replaced by increasing High Resolution Remote Sensing Satellites image to a certain extent.It is existing
In part, high-resolution satellite image can obtain terrestrial information image data more more detailed than aerial imagery equipment.To the greatest extent
Manage in this way, satellite image is only capable of obtaining information at the top of earth's surface still with identical problem in observing and interpret with orthography
Data, are applied to cybercity construction and still lack atural object side-information data, and side grain information data is stilled need by the spot
The photography collection mode for taking time and effort, this causes the acquisition phase of geometrical model information data and texture information data inconsistent,
So as to have a strong impact on the expression effect of threedimensional model.
In instrument of surveying and mapping field, oblique photograph measurement and traverse measurement system（Mobile mapping system, MSS）
It is two fast-developing novel information acquisition techniques.Aviation oblique photograph measurement has overturned traditional aeroplane photography pattern only
From the limitation that single vertical angle is shot, by carrying multiple each angled sensings simultaneously on a flying platform
Device, obtains the multidirectional stereo image information data in ground from vertical and angle of inclination respectively, and fuselage also carries high accuracy and leads
Boat satellite positioning receiver and Inertial Measurement Unit（Inertial measurement unit, IMU）.Oblique photograph measurement is obtained
The many apparent dip aviation image data for obtaining, can not only truly reflect atural object, accurately obtain building top surface and side
Texture information, can also generate real three-dimensional digital city model by technologies such as advanced positioning, fusion, modelings.Inclination is taken the photograph
Although advantage of the modeling data that shadow mode is obtained with high fidelity, total factor, skill is measured individually with oblique photograph
Also there are many weak points in art, such as oblique photograph due to building face entity block, cause data near the ground
Lose；Because the differences such as oblique photograph angle, its identification result in ground data are also different, this has resulted near the ground
The details of data is unintelligible.
And the technical solution that another is obtained towards three-dimensional digital city modeling data is traverse measurement system.Generally
In the case of, MMS integrated equipments are installed on tampered carrier vehicle platform, and thereon equipped with multiple sensors, such as CCD shines
Mutually and video camera, satellite positioning receiver, Inertial Measurement Unit and laser radar scanner etc., by these equipment with it is vehicle-mounted
Computer and storage device are connected, and MMS can be by actively sending surrounding enviroment that scanning signal scanning motion passes through and record
Various signals, the information that these are obtained present position residing when can obtain scanning by IMU inverses.Vehicle-mounted mobile measuring system
Can conveniently and efficiently shuttle in the complicated and intensive area of atural object, atural object image and spatial information data are quickly adopted
Collection, coordinates high accuracy positioning attitude determination system, is obtained in that possess high position precision and high-resolution streetscape image data, is obtained
The image data for obtaining has the integrality and undistorted property of data near the ground, and these image datas provide abundant facade letter
Breath, and these information can be used to accelerate the generation of the complicated true threedimensional model in city.But due to the problem of image-forming principle so that
MMS lacks the top data and texture of acquisition target.
Although there is loss of data near the ground and details not in the cybercity construction data that aviation oblique photograph measurement is obtained
Clearly weak point, but it has the high level data information of preferably of overall importance and complete and accurate;Conversely, ground on-vehicle
The installed video data that traverse measurement system is obtained most can really show scene information near the ground, its data near the ground is complete,
Details is clear, but it is presented deficiency, high layer information missing in the overall situation.Therefore, inclined to make up aviation to greatest extent
Photography gives full play to ground on-vehicle traverse measurement in subaerial advantage in subaerial deficiency, it is necessary to inclines aviation and takes the photograph
Shadow measurement is organically merged with ground on-vehicle traverse measurement, sets up the Air Ground Integration System for gathering modeling data,
And then quick obtaining is true, the complete clear, high accuracy of total factor, details and high-quality cybercity construction data, is number
Significant contribution is made in the quick production of word city outdoor scene threedimensional model.
Utility model content
For foregoing problem of the prior art, the utility model provides one kind and is built for obtaining digital city outdoor scene three-dimensional
The Air Ground Integration System of modulus evidence, is organically melted by by aviation oblique photograph measurement with ground on-vehicle traverse measurement
Close, can to greatest extent make up aviation oblique photograph in subaerial deficiency, give full play to ground on-vehicle traverse measurement near
The advantage on ground, and then quick obtaining is true, total factor, details are complete clearly, high accuracy and high-quality city three-dimensional are built
Modulus evidence, is that significant contribution is made in the quick production of digital city outdoor scene threedimensional model.
The technical solution adopted in the utility model, there is provided a kind of for obtaining digital city outdoor scene three-dimensional modeling data
Air Ground Integration System, includes airborne platform and ground moving vehicular platform；The airborne platform configuration is organic
Server, the first wireless communication module are carried, various visual angles imager, the first survey appearance locating module is inclined and flies control performing module, institute
State on-board server connect respectively first wireless communication module, the inclination various visual angles imager, it is described first survey appearance determine
Position module and the winged control performing module；The ground moving vehicular platform is configured with onboard servers, the second radio communication mold
Block, 360 degree of panoramic cameras, three-dimensional laser scanner, second survey appearance locating module, thermal imaging system, velocity radar and display,
The onboard servers connect second wireless communication module, 360 degree of panoramic cameras, the three-dimensional laser and sweep respectively
Instrument, the second survey appearance locating module, the thermal imaging system, the velocity radar and the display are retouched, described second is wireless
Communication module wireless telecommunications connect first wireless communication module.
Optimization, the various visual angles imager that inclines includes the support installed in the airborne platform belly and fixation
Five inclination camera lenses on the bracket；It is downward-sloping that the direction of five inclination camera lenses is respectively vertically downward direction, forward sight
Direction, the downward-sloping direction of backsight, the downward-sloping direction of left view and incline direction under right line of vision, wherein, five incline camera lens and exist
It is in Maltese cross shape quadrature arrangement in horizontal plane, the angle of inclination of inclination camera lens of front, rear, left and right four is between 40~60 degree
Between.
Optimization, described first surveys appearance locating module includes high precision navigational satellite location receiver and inertia measurement list
Unit；Described second surveys appearance locating module includes global navigation satellite system receiver, Inertial Measurement Unit and distance meter.
Optimization, the thermal imaging system is arranged on the top of the vehicular platform；Also pacify at the top of the vehicular platform
Electrodynamic type rain cover equipped with movable pulling, the electrodynamic type rain cover connects the onboard servers.
Optimization, 360 degree of panoramic cameras are by six high-resolution digitals being arranged at the top of the vehicular platform
Camera is constituted, and the lens direction of six high-resolution digital cameras intersects at a point radial arrangement.
Optimization, the three-dimensional laser scanner is by two swashing in arrangement up and down and at the top of the vehicular platform
Photoscanner is constituted, and the scanning end of two laser scanners intersects.
Optimization, the flight carrier of the airborne platform is rotor wing unmanned aerial vehicle, the ground moving vehicular platform
Walking carrier is automobile.
Optimization, first wireless communication module and second wireless communication module use model ST2510AW-N
2.4G digital wireless communication modules.
To sum up, using a kind of vacant lot for obtaining digital city outdoor scene three-dimensional modeling data provided by the utility model
Integral system, has the advantages that：（1）Aviation oblique photograph measurement and ground on-vehicle traverse measurement are carried out organically
Fusion, can to greatest extent make up aviation oblique photograph in subaerial deficiency, give full play to ground on-vehicle traverse measurement and exist
Subaerial advantage, and then quick obtaining is true, total factor, details are complete clearly, high accuracy and high-quality city are three-dimensional
Modeling data, is that significant contribution is made in the quick production of digital city outdoor scene threedimensional model；（2）The Air Ground Integration System tool
There are small acquisition modes workload, low cost and cycle is short, can be widely applied to city large scene outdoor scene three-dimensional modeling number
According to quick obtaining.
Brief description of the drawings
In order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or the accompanying drawing to be used needed for description of the prior art is briefly described, it should be apparent that, drawings in the following description are only
It is some embodiments of the present utility model, for those of ordinary skill in the art, is not paying the premise of creative work
Under, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the Air Ground Integration System for obtaining digital city outdoor scene three-dimensional modeling data that the utility model is provided
Structural representation.
Specific embodiment
Hereinafter with reference to accompanying drawing, by way of example describe that the utility model provides in detail for obtaining Digital City
The Air Ground Integration System of city's outdoor scene three-dimensional modeling data.Herein it should be noted that for the explanation of these way of example
It is used to help understand the utility model, but does not constitute to restriction of the present utility model.
The terms "and/or", only a kind of incidence relation for describing affiliated partner, represents there may be three kinds of passes
System, for example, A and/or B, can represent：Individualism A, individualism B, while there are tri- kinds of situations of A and B, the terms
"/and " it is another affiliated partner relation of description, expression there may be two kinds of relations, for example, A/ and B, can represent：Individually deposit
In A, two kinds of situations of individualism A and B, in addition, character "/" herein, typicallys represent forward-backward correlation pair as if a kind of "or" is closed
System.
Embodiment one
Fig. 1 show the utility model provide for obtaining the air-ground integrated of digital city outdoor scene three-dimensional modeling data
The structural representation of system.The vacant lot for obtaining digital city outdoor scene three-dimensional modeling data that the present embodiment is provided is integrally
Change system, including airborne platform and ground moving vehicular platform；The airborne platform configuration has on-board server,
One wireless communication module, inclination various visual angles imager, first survey appearance locating module and fly control performing module, the on-board server
First wireless communication module, the inclination various visual angles imager are connected respectively, described first survey appearance locating module and described
Fly control performing module；The ground moving vehicular platform is configured with onboard servers, the second wireless communication module, 360 degree of panoramas
Camera, three-dimensional laser scanner, second survey appearance locating module, thermal imaging system, velocity radar and display, the vehicle-mounted service
Device connects second wireless communication module, 360 degree of panoramic cameras, the three-dimensional laser scanner, described respectively
Two survey appearance locating module, the thermal imaging system, the velocity radar and the display, and second wireless communication module is wireless
Communication connection first wireless communication module.
As shown in figure 1, in the Air Ground Integration System, the airborne platform holds as a kind of payload platform
Carry and determined by the on-board server, first wireless communication module, the inclination various visual angles imager and the first survey appearance
The aviation of position module composition inclines various visual angles image datas and obtains subsystem, its can be, but not limited to for manned aircraft or nobody
Aircraft, such as fire balloon, dirigible or unmanned plane etc..In the airborne platform, first wireless communication module is used
Communicated wirelessly in the vehicular platform, realize the interaction of data；The inclination various visual angles imager is used to gather aviation
Various visual angles image data is inclined, and the data are sent to by the on-board server by communication line；Described first surveys appearance determines
Position module is used to obtain the present position and attitude information data of airborne platform, and these data is sent to described airborne
Server；On the one hand the on-board server is used to receive to come from earth station（In the utility model, i.e., described ground moving car
Carrying platform）Winged control instruction, and control it is described it is winged control performing module perform fly control instruction；On the other hand it is used to receive described instant
Position and attitude information data, and judge whether airborne platform reaches precalculated position according to these data, if then controlling
The inclination various visual angles imager collection aviation inclines various visual angles image data, and the aviation that will be obtained inclines various visual angles image number
Sent to earth station according to, present position and the binding of attitude information data；The winged control performing module is used to perform and flies to control instruction, example
Flying platform is such as controlled according to default airline operation.Additionally, as shown in figure 1, the airborne platform is also included for being this
First battery of other module for power supply of ground.
The ground moving vehicular platform is carried by the onboard servers, second nothing as ground running carrier
Line communication module, 360 degree of panoramic cameras, the three-dimensional laser scanner, described second survey appearance locating module and described
The ground on-vehicle image data that thermal imaging system is constituted obtains subsystem, and it can be, but not limited to be automobile, and the automobile includes electricity
Electrical automobile.In the ground moving vehicular platform, second wireless communication module is used to enter with the airborne platform
Row wireless telecommunications, realize the interaction of data；360 degree of panoramic cameras are used for 360 ° of road image data around collection vehicle
With building information data, the ground on-vehicle image data of panorama is obtained, and the ground on-vehicle image data is sent to institute
State onboard servers；The three-dimensional laser scanner is used to gather ground vehicle-carried mobile platform road and road in the process of moving
Adjacent Buildings three dimensional point cloud, to be sent to the car as the supplement of the ground moving installed video data
Carry server；The thermal imaging system（The infrared energy of measured target is received using Infrared Detectors and optical imagery object lens,
Reflected on the light-sensitive element of Infrared Detectors, so as to obtain Infrared Thermogram, the different colours above thermal image are represented
The different temperatures of testee, this thermography is corresponding with the heat distribution of body surface）It is infrared for scanning vehicle periphery
Thermal imagery diagram data, to be sent to the onboard servers as the supplement of the ground moving installed video data；Institute
The second survey appearance locating module is stated for obtaining the present position and attitude information data of ground moving vehicular platform, and these are counted
According to being sent to the onboard servers；On the one hand the onboard servers are used to receive the aviation from the airborne platform
Various visual angles image data, present position and attitude information data are inclined, and combines local ground moving installed video data, three
Dimension laser point cloud data, infrared thermal imagery diagram data, present position and attitude information data etc., carry out follow-up three-dimensional modeling and locate in advance
Reason, obtains the real texture information of the accurate geometrical model of atural object and top surface and side, finally combines threedimensional model and makes, and obtains
To true, high precision and can show the three-dimensional scenic of detail characteristic；On the other hand the control for the airborne platform is produced
System instruction, to control course line and the flying speed of the airborne platform, realizes both same circuit image acquisitions；
The velocity radar is used for the operating range of accurate measurement vehicle, to be combined with the described second survey appearance locating module, solves
Vehicular platform searches for the problem less than satellite-signal, and then ensures the accuracy of gathered data.Additionally, as shown in figure 1, describedly
Face vehicle-carried mobile platform is also included for the second battery for local other module for power supply.
Thus aviation oblique photograph measurement is organically merged with ground moving vehicle load measurement, can be to greatest extent
Aviation oblique photograph is made up in subaerial deficiency, ground moving vehicle load measurement is given full play in subaerial advantage, and then soon
Speed obtains the complete clear, high accuracy of true, total factor, details and high-quality cybercity construction data, is digital city
Significant contribution is made in the quick production of outdoor scene threedimensional model.Additionally, the Air Ground Integration System has acquisition modes workload
The advantages of small, low cost and cycle is short, can be widely applied to the quick obtaining of city large scene outdoor scene three-dimensional modeling data.
Optimization, the various visual angles imager that inclines includes the support installed in the airborne platform belly and fixation
Five inclination camera lenses on the bracket；It is downward-sloping that the direction of five inclination camera lenses is respectively vertically downward direction, forward sight
Direction, the downward-sloping direction of backsight, the downward-sloping direction of left view and incline direction under right line of vision, wherein, five incline camera lens and exist
It is in Maltese cross shape quadrature arrangement in horizontal plane, the angle of inclination of inclination camera lens of front, rear, left and right four is between 40~60 degree
Between.When aviation inclination various visual angles image data is gathered, the inclination camera lens for being oriented vertically downward direction obtains tradition
Image data vertically downward（Obtain the initial data of atural object top surface texture）, four additional incline camera lens obtain respectively correspondence
Inclination image data under direction（Obtain the initial data of atural object facade textures）, thus using the multi-angled shooting mechanism,
Abundant and performance detail characteristic texture information can be obtained, the need for meeting subtle three-dimensional modeling.
Optimization, described first surveys appearance locating module mainly includes high precision navigational satellite location receiver and inertia measurement
Unit（Inertial measurement unit, IMU）；Described second surveys appearance locating module mainly includes global navigational satellite
System（Global Navigation Satellite Sstem, GNSS）Receiver, Inertial Measurement Unit and distance meter
（Distance Measurement Indicator, DMI）.
Optimization, the thermal imaging system is arranged on the top of the vehicular platform；Also pacify at the top of the vehicular platform
Electrodynamic type rain cover equipped with movable pulling, the electrodynamic type rain cover connects the onboard servers.The electrodynamic type is prevented
Canopy is used to be opened when rainy, prevents the instrument and equipment drenched at the top of the vehicular platform（Can be, but not limited to include
The thermal imaging system）.
Optimization, 360 degree of panoramic cameras are by six high-resolution digitals being arranged at the top of the vehicular platform
Camera is constituted, and the lens direction of six high-resolution digital cameras intersects at a point radial arrangement.By to six high scores
Resolution digital camera carries out the arrangement, can in vehicular motion, complete 360 ° of road image data of vehicle periphery and
The collection of building information data.
Optimization, the three-dimensional laser scanner is by two in arrangement up and down and installed in the ground moving vehicular platform
The laser scanner at top is constituted, and the scanning end of two three-dimensional laser scanners intersects.Three-dimensional laser scanner is to use
Non-contact measurement mode carries out data acquisition, by configuring upper and lower two laser scanners, can complete vehicle travel process
The collection of middle road and road Adjacent Buildings three dimensional point cloud.
Optimization, the flying platform of the airborne platform is preferably rotor wing unmanned aerial vehicle, and the ground moving is vehicle-mounted flat
The walking carrier of platform is preferably automobile.
Optimization, first wireless communication module and second wireless communication module can be, but not limited to use model
It is the 2.4G digital wireless communication modules of ST2510AW-N.The 2.4G digital wireless communication modules of the model ST2510AW-N
It is a kind of long range wireless communication module for being based on 802.11 agreements, it is possible to achieve effective radio communication of 5Km scopes, thus may be used
Meet the application demand of the present embodiment.
To sum up, the air-ground integrated system for obtaining digital city outdoor scene three-dimensional modeling data that the present embodiment is provided
System, has the advantages that：（1）Aviation oblique photograph measurement is organically merged with ground moving vehicle load measurement, can
To make up aviation oblique photograph to greatest extent in subaerial deficiency, ground moving vehicle load measurement is given full play to subaerial
Advantage, and then quick obtaining is true, the complete clear, high accuracy of total factor, details and high-quality cybercity construction data,
For significant contribution is made in the quick production of digital city outdoor scene threedimensional model；（2）The Air Ground Integration System has acquisition side
Formula workload is small, low cost and the advantages of cycle is short, can be widely applied to the quick of city large scene outdoor scene three-dimensional modeling data
Obtain.
As described above, the utility model can be realized preferably.For a person skilled in the art, it is new according to this practicality
The teaching of type, designs the Air Ground Integration System for obtaining digital city outdoor scene three-dimensional modeling data of multi-form not
Need performing creative labour.These embodiments are changed in the case where principle of the present utility model and spirit is not departed from,
Modification, replacement, integration and modification are still fallen within protection domain of the present utility model.
Claims (8)
1. a kind of Air Ground Integration System for obtaining digital city outdoor scene three-dimensional modeling data, it is characterised in that including boat
Empty airborne platform and ground moving vehicular platform；
The airborne platform configuration has on-board server, the first wireless communication module, inclines various visual angles imager, the first survey
Appearance locating module and winged control performing module, the on-board server connect first wireless communication module, the inclination respectively
Various visual angles imager, described first survey appearance locating module and the winged control performing module；
The ground moving vehicular platform is configured with onboard servers, the second wireless communication module, 360 degree of panoramic cameras, three
Dimension laser scanner, second survey appearance locating module, thermal imaging system, velocity radar and display, and the onboard servers connect respectively
Second wireless communication module, 360 degree of panoramic cameras, the three-dimensional laser scanner, the second survey appearance is connect to determine
Position module, the thermal imaging system, the velocity radar and the display, the second wireless communication module wireless telecommunications connection
First wireless communication module.
2. it is used to obtain the Air Ground Integration System of digital city outdoor scene three-dimensional modeling data as claimed in claim 1, it is special
Levy and be, the various visual angles imager that inclines includes being arranged on the support of the airborne platform belly and is fixed on the branch
Five inclination camera lenses on frame；
The direction of five inclination camera lenses is respectively the downward-sloping direction of vertically downward direction, forward sight, the downward-sloping direction of backsight, a left side
Incline direction under incline direction and right line of vision under line of vision, wherein, five incline camera lens in the horizontal plane in Maltese cross shape just
Arrangement is handed over, the angle of inclination of inclination camera lens of front, rear, left and right four is between 40~60 degree.
3. it is used to obtain the Air Ground Integration System of digital city outdoor scene three-dimensional modeling data as claimed in claim 1, it is special
Levy and be, described first surveys appearance locating module includes high precision navigational satellite location receiver and Inertial Measurement Unit；
Described second surveys appearance locating module includes global navigation satellite system receiver, Inertial Measurement Unit and distance meter.
4. it is used to obtain the Air Ground Integration System of digital city outdoor scene three-dimensional modeling data as claimed in claim 1, it is special
Levy and be, the thermal imaging system is arranged on the top of the vehicular platform；
The electrodynamic type rain cover of movable pulling, the electrodynamic type rain cover connection are also equipped with the top of the vehicular platform
The onboard servers.
5. the Air Ground Integration System for obtaining digital city outdoor scene three-dimensional modeling data as described in claim 1 or 4, its
It is characterised by, 360 degree of panoramic cameras are by six high-resolution digital phase mechanisms being arranged at the top of the vehicular platform
Lens direction into, six high-resolution digital cameras intersects at a point radial arrangement.
6. the Air Ground Integration System for obtaining digital city outdoor scene three-dimensional modeling data as described in claim 1 or 4, its
It is characterised by, the three-dimensional laser scanner is by two in arrangement up and down and the laser scanning at the top of the vehicular platform
Instrument is constituted, and the scanning end of two laser scanners intersects.
7. it is used to obtain the Air Ground Integration System of digital city outdoor scene three-dimensional modeling data as claimed in claim 1, it is special
Levy and be, the flight carrier of the airborne platform is rotor wing unmanned aerial vehicle, the walking carrier of the ground moving vehicular platform
It is automobile.
8. it is used to obtain the Air Ground Integration System of digital city outdoor scene three-dimensional modeling data as claimed in claim 1, it is special
Levy and be, first wireless communication module and second wireless communication module using model ST2510AW-N 2.4G numbers
Word wireless communication module.
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| CN110033203A (en) * | 2019-04-23 | 2019-07-19 | 重庆市勘测院 | The skyline evaluation method projected based on city outdoor scene long paper and threedimensional model |
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