CN214585967U - Unmanned aerial vehicle high-density laser radar point cloud plane elevation precision detection device - Google Patents
Unmanned aerial vehicle high-density laser radar point cloud plane elevation precision detection device Download PDFInfo
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- CN214585967U CN214585967U CN202120291250.0U CN202120291250U CN214585967U CN 214585967 U CN214585967 U CN 214585967U CN 202120291250 U CN202120291250 U CN 202120291250U CN 214585967 U CN214585967 U CN 214585967U
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Abstract
The utility model discloses an unmanned aerial vehicle high density laser radar point cloud plane elevation precision detection device. According to the real three-dimensional coordinates of the sphere center and the real elevation of the horizontal supporting plate obtained through measurement, error calculation is carried out on the sphere center coordinates of the fitting sphere measured by the unmanned aerial vehicle laser point cloud and the average elevation of the laser points falling on the horizontal supporting plate, and error correction is carried out on all laser radar point clouds in the measuring area through a corresponding adjustment algorithm, so that the absolute accuracy of the laser point clouds is improved.
Description
Technical Field
The utility model relates to a railway unmanned aerial vehicle surveys and draws technical field, especially relates to an unmanned aerial vehicle high density laser radar point cloud plane elevation precision detection device.
Background
The unmanned aerial vehicle aerial survey technology, particularly the unmanned aerial vehicle laser radar technology, is a powerful supplement to the traditional aerial photogrammetry means, has the characteristics of flexibility, high efficiency, rapidness, fineness, accuracy, low operation cost, wide application range, short production period, small influence of weather and airspace conditions and the like, and has obvious advantages in the aspect of rapidly acquiring high-precision data in medium and small areas and areas with difficult flight. Unmanned aerial vehicle laser radar is more and more widely applied in aspects such as homeland surveying and mapping, route selection design, environmental monitoring, emergency disaster relief and the like. The laser radar has the greatest advantages that the laser radar can effectively penetrate through vegetation and reach the ground directly, ground point coordinates are obtained, and the precision is reliable. However, the data accuracy of the conventional production project lidar point cloud mainly depends on the accuracy of a light and small POS system integrated on an unmanned aerial vehicle, the processing mode can meet the achievement requirement of the accuracy of a 1:2000 or even smaller scale, but for high-accuracy applications such as topographic map measurement, longitudinal (transverse) section and existing railway line surveying and mapping of the 1:500 or larger scale, the plane elevation accuracy detection and correction of the original lidar point cloud are needed, and the data accuracy can meet the standard requirement.
The laser radar system integrates laser, Global Navigation Satellite System (GNSS) and Inertial Navigation System (INS) into one system, and can obtain high-precision topographic data. The laser radar system comprises a laser and a receiving system, and the working principle is that a beam of light pulse is generated and emitted by the laser, strikes an object and is reflected back, and is finally received by a receiver. The receiver accurately measures the propagation time of the light pulse from emission to recovery of reflection, and combines the position of the laser obtained from the GNSS and the laser emission direction obtained from the INS, so that the three-dimensional coordinates of each light spot can be calculated. Therefore, the accuracy of the original point cloud data acquired by the laser radar mainly depends on the ranging accuracy of the laser itself, the measurement accuracy of the GNSS and the INS, the time synchronization accuracy among the three and other factors, and due to the influence of the factors, the original point cloud of the laser has certain systematic errors and accidental errors. Therefore, how to correct the measurement data and ensure the accuracy of the measurement data becomes a problem to be solved urgently.
SUMMERY OF THE UTILITY MODEL
Therefore, an object of the utility model is to provide an unmanned aerial vehicle high density lidar point cloud plane elevation precision detection device, according to the data acquisition characteristics of unmanned aerial vehicle lidar point cloud, combine the plane elevation precision detection device of corresponding data adjustment algorithm development. The data characteristics to unmanned aerial vehicle high density laser point cloud develop specially, have good detection effect, can eliminate laser radar point cloud data's partial system error, promote the absolute accuracy of data by a wide margin, establish the basis for the preparation of follow-up high accuracy data achievement.
In order to achieve the purpose, the utility model discloses an unmanned aerial vehicle high-density laser radar point cloud plane elevation precision detection device, which comprises a tripod, a horizontal supporting plate, a supporting column and a ball body; the tripod top fixed connection horizontal layer board, horizontal layer board center top is fixed and is equipped with the support column, the top fixed mounting spheroid of support column, spheroidal projected area is less than horizontal layer board area.
Preferably, the horizontal supporting plate is formed by splicing and assembling a plurality of mounting plates.
In any one of the above embodiments, preferably, the edge of each mounting plate is fixedly connected to one end of a telescopic rod, and the other end of the telescopic rod is fixedly mounted on a tripod.
In any of the above embodiments, preferably, the horizontal support plate and the sphere are painted or coated with a color or coating for enhancing reflectivity.
In any one of the above embodiments, preferably, the bottom of the ball body is provided with a threaded hole, the top of the support column is provided with a thread, and the ball body is connected with the support column through the thread.
In any of the above embodiments, preferably, an elevation measuring device is fixedly arranged below the center of the horizontal supporting plate.
Preferably in any one of the above embodiments, the elevation measurement apparatus is a tape measure.
In any of the above embodiments, preferably, the horizontal supporting plate is made of an acrylic material.
The application discloses a little cloud of unmanned aerial vehicle high density laser radar point elevation precision detection device compares in current technique, has following advantage at least:
1. according to the real three-dimensional coordinates of the sphere center and the real elevation of the horizontal supporting plate obtained through measurement, error calculation is carried out on the sphere center coordinates of the fitting sphere measured by the unmanned aerial vehicle laser point cloud and the average elevation of the laser points falling on the horizontal supporting plate, and error correction is carried out on all laser radar point clouds in the measuring area through a corresponding adjustment algorithm, so that the absolute accuracy of the laser point clouds is improved.
2. Adopt a plurality of equidimension little mounting panels to connect the equipment and form horizontal layer board, guarantee the stability of big horizontal layer board, can adopt flexible bracing piece to support fixedly.
Drawings
Fig. 1 is the utility model provides an unmanned aerial vehicle high density laser radar point cloud plane elevation precision detection device schematic diagram.
Fig. 2 is the utility model provides an unmanned aerial vehicle high density laser radar point cloud plane elevation precision detection device's side view.
In the figure: 1. a sphere; 2. a support pillar; 3. a horizontal support plate; 4. a tripod; 5. a telescopic rod.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-2, an embodiment of the present invention provides an apparatus for detecting a point cloud plane elevation precision of an unmanned aerial vehicle high-density lidar, which includes a tripod 4, a horizontal supporting plate 3, a supporting column 2 and a sphere 1; tripod 4 top fixed connection horizontal support plate 3, 3 central tops of horizontal support plate are fixed and are equipped with support column 2, the top fixed mounting spheroid 1 of support column 2, the projected area of spheroid 1 is less than 3 areas of horizontal support plate. The horizontal pallet 3 may be square or rectangular.
In this embodiment, during calibration detection, the device is first erected on a known control point, centered and leveled by a tripod, and then the real three-dimensional coordinates Q1(X, Y, Z) of the center of the sphere and the real height H1 of the plane pallet can be obtained according to the rigid connection relationship of the device. Then, a sphere can be fitted according to the fact that the laser point cloud falls on the sphere and only exceeds 3 points, the three-dimensional coordinate Q2(X, Y, Z) of the sphere center of the fitted sphere can be obtained, and the plane coordinate difference value of Q1 and Q2 is the plane error of the laser point cloud at the position. Secondly, according to the laser points falling on the plane supporting plate, the average elevation H2 of the laser points is obtained, and the elevation difference value between H1 and H2 is the elevation error of the laser point cloud at the position. And finally, uniformly distributing the detection devices according to the size of the measurement area, and performing error correction on all laser radar point clouds in the measurement area by adopting a corresponding adjustment algorithm according to the plane and elevation errors detected by all the devices, so that the absolute accuracy of the laser point clouds is improved.
The horizontal supporting plate 3 is formed by splicing and assembling a plurality of mounting plates. The horizontal supporting plate 3 is made of an acrylic material. Every the border fixed connection telescopic link 5's of mounting panel one end, telescopic link 5's the other end fixed mounting is on tripod 4. The horizontal supporting plate 3 and the ball body 1 are coated with paint or coating for enhancing the reflection capability. The bottom of the sphere 1 is provided with a threaded hole, the top of the support column 2 is provided with threads, and the sphere 1 is connected with the support column 2 through the threads.
And an elevation measuring device is fixedly arranged below the center of the horizontal supporting plate 3. The elevation measuring device is a measuring tape.
According to the real three-dimensional coordinates of the sphere center and the real elevation of the horizontal supporting plate obtained through measurement, error calculation is carried out on the sphere center coordinates of the fitting sphere measured by the unmanned aerial vehicle laser point cloud and the average elevation of the laser points falling on the horizontal supporting plate, and error correction is carried out on all laser radar point clouds in the measuring area through a corresponding adjustment algorithm, so that the absolute accuracy of the laser point clouds is improved. Adopt a plurality of equidimension little mounting panels to connect the equipment and form horizontal layer board, guarantee the stability of big horizontal layer board, can adopt flexible bracing piece to support fixedly.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications can be made without departing from the scope of the invention.
Claims (8)
1. The utility model provides an unmanned aerial vehicle high density laser radar point cloud plane elevation precision detection device which characterized in that: comprises a tripod, a horizontal supporting plate, a supporting column and a sphere;
the tripod top fixed connection horizontal layer board, horizontal layer board center top is fixed and is equipped with the support column, the top fixed mounting spheroid of support column, spheroidal projected area is less than horizontal layer board area.
2. The unmanned aerial vehicle high-density laser radar point cloud plane elevation precision detection device of claim 1, characterized in that: the horizontal supporting plate is formed by splicing and assembling a plurality of mounting plates.
3. The device for detecting the elevation precision of the point cloud of the high-density lidar of the unmanned aerial vehicle as claimed in claim 2, wherein the edge of each mounting plate is fixedly connected with one end of a telescopic rod, and the other end of the telescopic rod is fixedly mounted on a tripod.
4. The unmanned aerial vehicle high-density lidar point cloud plane elevation accuracy detection apparatus of claim 1, wherein the horizontal support plate and the sphere are painted with a color or coating for enhancing reflectivity.
5. The device for detecting the elevation precision of the point cloud of the unmanned aerial vehicle high-density laser radar point as claimed in claim 1, wherein a threaded hole is formed in the bottom of the sphere, a thread is formed in the top of the support column, and the sphere is in threaded connection with the support column.
6. The unmanned aerial vehicle high-density laser radar point cloud plane elevation precision detection device of claim 1, wherein an elevation measurement device is fixedly arranged below the center of the horizontal supporting plate.
7. The device for detecting the elevation precision of the point cloud plane of the unmanned aerial vehicle high-density lidar according to claim 6, wherein the elevation measuring device is a tape measure.
8. The device for detecting the elevation precision of the point cloud plane of the high-density lidar of the unmanned aerial vehicle according to claim 1, wherein the horizontal supporting plate is made of an acrylic material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120291250.0U CN214585967U (en) | 2021-02-02 | 2021-02-02 | Unmanned aerial vehicle high-density laser radar point cloud plane elevation precision detection device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120291250.0U CN214585967U (en) | 2021-02-02 | 2021-02-02 | Unmanned aerial vehicle high-density laser radar point cloud plane elevation precision detection device |
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| Publication Number | Publication Date |
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| CN214585967U true CN214585967U (en) | 2021-11-02 |
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| CN202120291250.0U Active CN214585967U (en) | 2021-02-02 | 2021-02-02 | Unmanned aerial vehicle high-density laser radar point cloud plane elevation precision detection device |
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2021
- 2021-02-02 CN CN202120291250.0U patent/CN214585967U/en active Active
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