WO2020151214A1 - 一种潮间带一体化测绘的多传感器数据融合方法 - Google Patents
一种潮间带一体化测绘的多传感器数据融合方法 Download PDFInfo
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- the invention relates to the field of intertidal zone surveying and mapping, in particular to a multi-sensor data fusion method for intertidal zone integrated surveying and mapping.
- the intertidal zone is located between the sea and the land. How to quickly integrate the integration of sea and land data has become a hot spot.
- a single sensor can only obtain part of the information segment of the environment and the measured object, while multiple sensors can perfectly and accurately reflect the environmental characteristics after fusion.
- the topography of the intertidal zone is greatly affected by man-made and natural factors, and topographic data is difficult to obtain. Since single beam and laser scanners cannot obtain data in the shallow area, a towed sounding system is introduced to completely integrate the water and underwater terrain data.
- the intertidal zone mobile measurement system mainly integrates various sensors such as satellite positioning system, inertial navigation system, three-dimensional laser scanner, towed vehicle, etc. Because the data measured by multiple sensors are in different coordinate systems, coordinate conversion is required. First, Obtain the conversion parameters, then merge the point clouds, and finally generate an integrated topographic map of the intertidal zone.
- the present invention provides a multi-sensor data fusion method for intertidal zone integrated surveying and mapping, which combines the precise calibration of each sensor to complete the conversion of multi-sensor data space coordinates.
- a multi-sensor data fusion method for integrated surveying and mapping of intertidal zones including a carrier vehicle on which sensors are arranged.
- the sensors include a satellite positioning system, an inertial navigation system, a laser scanner, a single beam sounder and a towed sounding device ;
- Coordinate systems include single-beam coordinate system, drag sounding coordinate system, laser scanner coordinate system, satellite positioning system coordinate system and inertial navigation system coordinate system, and local horizontal coordinate system and WGS84 coordinate system are also required;
- the multi-sensor data fusion method includes the following steps:
- Step 1 Use a precision industrial measurement system to calibrate the phase center and shaft system of each sensor
- Step 2 Use a single-beam sounding device to collect data in shallow waters, a towed sounding device to collect data in shallow waters, and a laser scanner to collect data on land.
- Step 3 Convert the data coordinates collected under the laser scanner coordinate system, single beam coordinate system and drag sounding coordinate system to the WGS84 coordinate system.
- the step 1 specifically includes the following sub-steps:
- Step 1.1 Use two theodolites for directional measurement and determine the relative position between the two theodolites to establish a spatial rectangular coordinate system
- Step 1.2 Use the space forward intersection measurement principle to determine the phase center and attitude information of the inertial navigation system and laser scanner, and the phase center position of the satellite positioning system, single beam sounder and towed sounding device.
- the step 2 specifically includes:
- the single-beam echo sounder includes a transducer, through which a short pulse wave is emitted vertically downwards, and is received by the transducer after reflection on the seabed.
- the water depth is calculated by the propagation speed and propagation time of the sound wave in the water;
- h is the distance between the transducer and the bottom
- C is the average sound velocity of the water body
- t is the two-way travel time of the sound wave
- the position information of the single-beam echo sounder given by the satellite positioning system can calculate the three-dimensional space coordinates of the seabed terrain
- the towed sounding device includes a connecting rod connected to the rear end of the carrier vehicle, two encoders are arranged at the front end of the connecting rod, and a roller is arranged at the rear end of the connecting rod.
- the roller moves up and down, left, and right in different terrains, and is transmitted to the connecting rod.
- the front encoder with two degrees of freedom, vertical and horizontal, through the vertical and horizontal angle changes, the length of the connecting rod, the satellite positioning system, and the inertial navigation system, calculate the three-dimensional space coordinates of the shallow and intertidal terrain;
- ( ⁇ x, ⁇ y, ⁇ h) are the coordinates of the feature points in the drag sounding coordinate system
- L is the length of the connecting rod
- ⁇ is the angle between the vertical direction of the connecting rod and the Y axis of the drag sounding coordinate system
- ⁇ is the connecting rod The angle between the horizontal direction and the Y axis of the drag sounding coordinate system
- the laser scanner provides accurate position information of the carrier through the satellite positioning system, and the spatial attitude information of the carrier provided by the inertial navigation system to measure the three-dimensional spatial coordinates of the water terrain.
- the step 3 specifically includes:
- the data conversion model is as follows:
- h is the seafloor depth measured by a single beam echo sounder
- C is the average sound velocity of the water body
- t is the two-way travel time of the sound wave
- Is the WGS84 coordinate of the underwater topography measured by the single beam sounder Is the rotation matrix from the single beam coordinate system to the inertial navigation system coordinate system, Is the coordinates of the underwater terrain in a single beam coordinate system, Is the coordinate of the phase center of the transducer of the single beam echo sounder in the coordinate system of the inertial navigation system, Is the rotation matrix from the inertial navigation system coordinate system to the local horizontal coordinate system, Is the rotation matrix of the local horizontal coordinate system, Is the coordinates of the center of the inertial navigation system in the WGS84 coordinate system;
- the data conversion model is as follows:
- L is the length of the connecting rod
- ⁇ is the angle between the horizontal direction of the connecting rod and the Y axis of the drag sounding coordinate system
- ⁇ is the angle between the vertical direction of the connecting rod and the Y axis of the drag sounding coordinate system
- To drag the sounding coordinate system to the rotation matrix of the inertial navigation system coordinate system Is the coordinates of the shoal terrain in the towed bathymetry system coordinate system
- To tow the coordinates of the phase center of the sounding device in the coordinate system of the inertial navigation system Is the rotation matrix from the inertial navigation system coordinate system to the local horizontal coordinate system
- the data conversion model is as follows:
- Is the WGS84 coordinates of the laser foot point Is the rotation matrix from the laser scanner coordinate system to the inertial navigation system coordinate system, Is the coordinates of the laser foot point in the laser scanner coordinate system, Is the coordinate of the laser scanner center in the coordinate system of the inertial navigation system, Is the rotation matrix from the inertial navigation system coordinate system to the local horizontal coordinate system, Is the rotation matrix of the local horizontal coordinate system, It is the coordinates of the center of the inertial navigation system in the WGS84 coordinate system.
- the multi-sensor data fusion method for integrated surveying and mapping of intertidal zone is based on the principle of space coordinate conversion and combined with the precise calibration of each sensor, which solves the problem of incomplete topographic surveying and mapping of intertidal zone. This method can quickly and accurately The topographic surveying and mapping of the intertidal zone has been completed, which has excellent application prospects.
- Figure 1 is an overall schematic diagram of each sensor coordinate system on the carrier vehicle
- Figure 2 is a schematic diagram of a single beam sounding coordinate system
- Figure 3 is a schematic diagram of the drag sounding coordinate system
- Figure 4 is a schematic diagram of the coordinate system of the laser scanner
- Figure 5 is a schematic diagram of the satellite positioning system coordinate system
- Figure 6 is a schematic diagram of the coordinate system of the inertial navigation system
- Figure 7 is a schematic diagram of the local horizontal coordinate system
- Figure 8 is a schematic diagram of the WGS84 coordinate system.
- a multi-sensor data fusion method for integrated surveying and mapping of intertidal zones includes a carrier vehicle.
- the carrier vehicle is equipped with sensors.
- the sensors include a satellite positioning system 4, an inertial navigation system 5, and a laser scanner 3. Single beam sounder 1 and towed sounder 2.
- the coordinate system includes a single beam coordinate system, a drag sounding coordinate system, a laser scanner coordinate system, a satellite positioning system coordinate system and an inertial navigation system coordinate system.
- the coordinate origin of the single-beam coordinate system is the phase center of the transducer, the Z axis is vertical upward, the Y axis points to the driving direction, and the X axis satisfies the right-hand rule.
- the coordinate origin of the drag sounding coordinate system is the phase center of the encoder where the connecting rod and the body are connected, the Z axis is vertical upwards, the Y axis points to the driving direction, and the X axis satisfies the right-hand rule.
- the coordinate origin of the laser scanner coordinate system is the phase center of the laser scanner, the Z axis is vertical upwards, the Y axis points to the driving direction, and the X axis satisfies the right-hand rule.
- the origin O of the satellite positioning system coordinate system is the phase center of the GNSS receiver, which is 1 cm away from the top of the receiver.
- the origin of the coordinate system of the inertial navigation system is the center of the inertial measurement unit, and the three-axis direction is fixedly connected to the inertial measurement unit. It is generally marked on the inertial measurement unit.
- the directions of the inertial measurement units of different manufacturers are not the same. .
- the local horizontal coordinate system generally selects a certain point of the carrier vehicle as the coordinate origin.
- the present invention selects the local horizontal coordinate system origin at the center of the inertial measurement unit, and selects the northeast sky coordinate system.
- the origin of the WGS84 coordinate system is at the centroid of the earth
- the Z axis points to the direction of the protocol earth pole defined by BIHI19844.0
- the X axis points to the intersection of the zero meridian plane of BIHI1984.0 and the equator
- the Y axis and the X axis and Z axis form Right-handed coordinate system.
- the multi-sensor data fusion method includes the following steps:
- Step 1 Use a precision industrial measurement system to calibrate the phase center and shaft system of each sensor.
- Step 1 specifically includes the following sub-steps:
- Step 1.1 Use two theodolites for directional measurement and determine the relative position between the two theodolites to establish a spatial rectangular coordinate system
- Step 1.2 Use the space forward rendezvous measurement principle to determine the phase center and attitude information of the inertial navigation system, the laser scanner, the satellite positioning system, the single-beam echo sounder, and the towed echo sounder.
- Step 2 Use a single-beam sounding device to collect data in shallow waters, a towed sounding device to collect data in shallow waters, and a laser scanner to collect data on land.
- step 2 includes:
- the single-beam echo sounder includes a transducer, through which a short pulse wave is emitted vertically downwards, and is received by the transducer after reflection on the seabed.
- the water depth is calculated by the propagation speed and propagation time of the sound wave in the water;
- h is the distance between the transducer and the bottom
- C is the average sound velocity of the water body
- t is the two-way travel time of the sound wave
- the position information of the single-beam echo sounder given by the satellite positioning system can calculate the three-dimensional spatial coordinates of the seabed terrain.
- the towed sounding device includes a connecting rod connected to the rear end of the carrier vehicle, two encoders are arranged at the front end of the connecting rod, and a roller is arranged at the rear end of the connecting rod.
- the roller moves up and down, left, and right in different terrains, and is transmitted to the connecting rod.
- the front encoder with two degrees of freedom, vertical and horizontal, can calculate the three-dimensional space coordinates of shallows and intertidal terrain through vertical and horizontal angle changes, the length of the connecting rod, satellite positioning system, and inertial navigation system. ;
- ( ⁇ x, ⁇ y, ⁇ h) are the coordinates of the feature points in the drag sounding coordinate system
- L is the length of the connecting rod
- ⁇ is the angle between the vertical direction of the connecting rod and the Y axis of the drag sounding coordinate system
- ⁇ is the connecting rod The angle between the horizontal direction and the Y axis of the drag sounding coordinate system.
- the laser scanner provides accurate position information of the carrier through the satellite positioning system, and the spatial attitude information of the carrier provided by the inertial navigation system to measure the three-dimensional spatial coordinates of the water terrain.
- Step 3 Convert the data coordinates collected under the laser scanner coordinate system, single beam coordinate system and drag sounding coordinate system to the WGS84 coordinate system.
- Step 3 specifically includes:
- the data conversion model is as follows:
- h is the seafloor depth measured by a single beam echo sounder
- C is the average sound velocity of the water body
- t is the two-way travel time of the sound wave
- Is the WGS84 coordinate of the underwater topography measured by the single beam sounder Is the rotation matrix from the single beam coordinate system to the inertial navigation system coordinate system, Is the coordinates of the underwater terrain in a single beam coordinate system, Is the coordinate of the phase center of the transducer of the single beam echo sounder in the coordinate system of the inertial navigation system, Is the rotation matrix from the inertial navigation system coordinate system to the local horizontal coordinate system, Is the rotation matrix of the local horizontal coordinate system, Is the coordinates of the center of the inertial navigation system in the WGS84 coordinate system;
- the data conversion model is as follows:
- L is the length of the connecting rod
- ⁇ is the angle between the horizontal direction of the connecting rod and the Y axis of the drag sounding coordinate system
- ⁇ is the angle between the vertical direction of the connecting rod and the Y axis of the drag sounding coordinate system
- To drag the sounding coordinate system to the rotation matrix of the inertial navigation system coordinate system Is the coordinates of the shoal terrain in the towed bathymetry system coordinate system
- To tow the coordinates of the phase center of the sounding device in the coordinate system of the inertial navigation system Is the rotation matrix from the inertial navigation system coordinate system to the local horizontal coordinate system
- the data conversion model is as follows:
- Is the WGS84 coordinates of the laser foot point Is the rotation matrix from the laser scanner coordinate system to the inertial navigation system coordinate system, Is the coordinates of the laser foot point in the laser scanner coordinate system, Is the coordinate of the laser scanner center in the coordinate system of the inertial navigation system, Is the rotation matrix from the inertial navigation system coordinate system to the local horizontal coordinate system, Is the rotation matrix of the local horizontal coordinate system, It is the coordinates of the center of the inertial navigation system in the WGS84 coordinate system.
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Abstract
本发明提供了一种潮间带一体化测绘的多传感器数据融合方法，包括载体车，载体车上设置有传感器，传感器包括卫星定位系统、惯性导航系统、激光扫描仪、单波束测深仪和拖曳测深装置。本方法采用精密工业测量系统对各传感器相位中心及轴系进行标定；分别使用单波束测深装置在浅水区采集数据，使用拖曳测深装置在浅滩区采集数据，使用激光扫描仪在陆地采集数据，将激光扫描仪坐标系、单波束坐标系及拖曳测深坐标系下采集的数据坐标转换到WGS84坐标系下。本方法解决了潮间带地形测绘不完整的问题，能够快速、准确的完成潮间带的地形测绘。
Description
本发明涉及潮间带测绘领域，具体涉及一种潮间带一体化测绘的多传感器数据融合方法。
随着科技的发展，人们对海洋的了解越来越深，潮间带位于海陆之间，如何快速的集成海陆一体化数据的融合成为热点。单一传感器只能获得环境和被测对象的部分信息段，而多传感器经过融合后能够完善地、准确地反映环境特征。潮间带地区地形受人为和自然因素影响较大，地形数据难以获得。由于单波束及激光扫描仪不能在浅滩区域获取数据，因此引入拖曳测深系统，将水上水下地形数据完整融合在一起。
潮间带移动测量系统主要集成了卫星定位系统、惯性导航系统、三维激光扫描仪、拖曳车等多种传感器，因多传感器所测得的数据在不同坐标系统下，所以需要进行坐标转换，首先获取转换参数，再将点云进行融合，最后生成潮间带一体化地形图。
发明内容
为了更加准确的完成潮间带测绘，本发明提供一种潮间带一体化测绘的多传感器数据融合方法，结合各传感器的精确标定，完成多传感器数据空间坐标的转化。
本发明采用以下的技术方案：
一种潮间带一体化测绘的多传感器数据融合方法，包括载体车，载体车上设置有传感器，传感器包括卫星定位系统、惯性导航系统、激光扫描仪、单波束测深仪和拖曳测深装置；
坐标系有单波束坐标系、拖曳测深坐标系、激光扫描仪坐标系，卫星定位系统坐标系和惯性导航系统坐标系，还需要当地水平坐标系和WGS84坐标系；
多传感器数据融合方法包括以下步骤：
步骤1：采用精密工业测量系统对各传感器相位中心及轴系进行标定；
步骤2：分别使用单波束测深装置在浅水区采集数据，使用拖曳测深装置在浅滩区采集数据，使用激光扫描仪在陆地采集数据。
步骤3：将激光扫描仪坐标系、单波束坐标系及拖曳测深坐标系下采集的数据坐标转换到WGS84坐标系下。
优选地，所述步骤1具体包括以下子步骤：
步骤1.1：利用两个经纬仪进行定向测量，确定两个经纬仪之间的相对位置，以此建立空间直角坐标系；
步骤1.2：利用空间前方交会测量原理，确定惯性导航系统、激光扫描仪的相位中心以 及姿态信息，卫星定位系统、单波束测深仪以及拖曳测深装置的相位中心位置。
优选地，所述步骤2具体包括：
单波束测深仪包括换能器，通过换能器垂直向下发射短脉冲波，在海底经过反射被换能器接收，通过声波在水中的传播速度以及传播时间，来计算出水深；
公式：
式中，h为换能器与水底间的距离，C为水体的平均声速，t为声波的双程旅行时间；
通过卫星定位系统赋予单波束测深仪位置信息，能求算出海底地形的三维空间坐标；
拖曳测深装置包括连接在载体车后端设置有连接杆，连接杆的前端设置有两个编码器，连接杆的后端设置有滚轮，通过滚轮在不同地形上下左右的移动，传导到连接杆前部的具有垂直和水平两个自由度的编码器，通过垂直和水平方向的角度变化、连接杆的长度以及卫星定位系统、惯性导航系统，求算出浅滩、潮间带地形的三维空间坐标；
公式：
(Δx,Δy,Δh)为拖曳测深坐标系下的地物点的坐标，L为连接杆的长度，β为连接杆垂直方向与拖曳测深坐标系Y轴的夹角，α为连接杆水平方向与拖曳测深坐标系Y轴的夹角；
激光扫描仪，通过卫星定位系统提供载体精确的位置信息，惯性导航系统提供的载体的空间姿态信息，测得水上地形三维空间坐标。
优选地，所述步骤3具体包括：
将单波束测深数据转换到WGS84坐标系下的数据；
数据转换模型如下：
其中，h为单波束测深仪测得的海底深度，C为水体的平均声速，t为声波的双程旅行时间，
为单波束测深仪测得的水底地形的WGS84坐标，
为单波束坐标系到惯 性导航系统坐标系的旋转矩阵，
为水底地形在单波束坐标系中的坐标，
为单波束测深仪的换能器相位中心在惯性导航系统坐标系中的坐标，
为惯性导航系统坐标系到当地水平坐标系的旋转矩阵，
为当地水平坐标系的旋转矩阵，
为惯性导航系统中心在WGS84坐标系中的坐标；
将拖曳测深数据转换到WGS84坐标系下的数据；
数据转换模型如下：
其中，L为连接杆的长度，α为连接杆水平方向与拖曳测深坐标系Y轴的夹角，β为连接杆垂直方向与拖曳测深坐标系Y轴的夹角，
为拖曳测深装置测得的浅滩地形的WGS84坐标，
为拖曳测深坐标系到惯性导航系统坐标系的旋转矩阵，
为浅滩地形在拖曳测深系统坐标系中的坐标，
为拖曳测深装置相位中心在惯性导航系统坐标系中的坐标，
为惯性导航系统坐标系到当地水平坐标系的旋转矩阵，
为当地水平坐标系的旋转矩阵，
为惯性导航系统中心在WGS84坐标系中的坐标；
将激光扫描仪数据转换到WGS84坐标系下的数据；
数据转换模型如下：
其中，
为激光脚点的WGS84坐标，
为激光扫描仪坐标系到惯性导航系统坐标系的旋转矩阵，
为激光脚点在激光扫描仪坐标系中的坐标，
为激光扫描仪中心在惯性导航系统坐标系中的坐标，
为惯性导航系统坐标系到当地水平坐标系的旋转矩阵，
为当地水平坐标系的旋转矩阵，
为惯性导航系统中心在WGS84坐标系中的坐标。
本发明具有的有益效果是：
本发明提供的潮间带一体化测绘的多传感器数据融合方法，基于空间坐标转换原理，结合各传感器的精确标定，解决了潮间带地形测绘不完整的问题，利用本方法能够快速、准确的完成潮间带的地形测绘，具有极好的应用前景。
图1为各传感器坐标系统在载体车上的整体示意图；
图2为单波束测深坐标系示意图；
图3为拖曳测深坐标系示意图；
图4为激光扫描仪坐标系示意图；
图5为卫星定位系统坐标系示意图；
图6为惯性导航系统坐标系示意图；
图7为当地水平坐标系示意图；
图8为WGS84坐标系示意图。
下面结合附图和具体实施例对本发明的具体实施方式做进一步说明：
结合图1至图8，一种潮间带一体化测绘的多传感器数据融合方法，包括载体车，载体车上设置有传感器，传感器包括卫星定位系统4、惯性导航系统5、激光扫描仪3、单波束测深仪1和拖曳测深装置2。
坐标系有单波束坐标系、拖曳测深坐标系、激光扫描仪坐标系，卫星定位系统坐标系和惯性导航系统坐标系。
另外，还需要当地水平坐标系和WGS84坐标系。
如图2所示，单波束坐标系的坐标原点为换能器的相位中心，Z轴垂直向上，Y轴指向行车方向，X轴满足右手法则。
如图3所示，拖曳测深坐标系的坐标原点为连接杆与车身连接处的编码器的相位中心，Z轴垂直向上，Y轴指向行车方向，X轴满足右手法则。
如图4所示，激光扫描仪坐标系的坐标原点为激光扫描仪的相位中心，Z轴垂直向上，Y轴指向行车方向，X轴满足右手法则。
如图5所示，卫星定位系统坐标系的原点O为GNSS接收机的的相位中心，距离接收机顶部1cm处。
如图6所示，惯性导航系统坐标系的原点为惯性测量单元的中心，三轴指向与惯性测量单元固连，一般在惯性测量单元上标识，不同厂家的惯性测量单元标注的指向不尽相同。
如图7所示，当地水平坐标系一般选取载体车的某一点作为坐标原点，本发明将当地水平坐标系原点选在惯性测量单元中心，选择东北天坐标系。
如图8所示，WGS84坐标系原点位于地球质心，Z轴指向BIHI19844.0定义的协议地球极方向，X轴指向BIHI1984.0的零子午面与赤道的交点，Y轴与X轴Z轴构成右手坐标系。
多传感器数据融合方法包括以下步骤：
步骤1：采用精密工业测量系统对各传感器相位中心及轴系进行标定。
步骤1具体包括以下子步骤：
步骤1.1：利用两个经纬仪进行定向测量，确定两个经纬仪之间的相对位置，以此建立空间直角坐标系；
步骤1.2：利用空间前方交会测量原理，确定惯性导航系统、激光扫描仪的相位中心以及姿态信息，卫星定位系统、单波束测深仪以及拖曳测深装置的相位中心位置。
步骤2：分别使用单波束测深装置在浅水区采集数据，使用拖曳测深装置在浅滩区采集数据，使用激光扫描仪在陆地采集数据。
具体的，步骤2包括：
单波束测深仪包括换能器，通过换能器垂直向下发射短脉冲波，在海底经过反射被换能器接收，通过声波在水中的传播速度以及传播时间，来计算出水深；
公式：
式中，h为换能器与水底间的距离，C为水体的平均声速，t为声波的双程旅行时间；
通过卫星定位系统赋予单波束测深仪位置信息，可以求算出海底地形的三维空间坐标。
拖曳测深装置包括连接在载体车后端设置有连接杆，连接杆的前端设置有两个编码器，连接杆的后端设置有滚轮，通过滚轮在不同地形上下左右的移动，传导到连接杆前部的具有垂直和水平两个自由度的编码器，通过垂直和水平方向的角度变化、连接杆的长度以及卫星定位系统、惯性导航系统，能求算出浅滩、潮间带地形的三维空间坐标；
公式：
(Δx,Δy,Δh)为拖曳测深坐标系下的地物点的坐标，L为连接杆的长度，β为连接杆垂直 方向与拖曳测深坐标系Y轴的夹角，α为连接杆水平方向与拖曳测深坐标系Y轴的夹角。
激光扫描仪，通过卫星定位系统提供载体精确的位置信息，惯性导航系统提供的载体的空间姿态信息，测得水上地形三维空间坐标。
步骤3：将激光扫描仪坐标系、单波束坐标系及拖曳测深坐标系下采集的数据坐标转换到WGS84坐标系下。
步骤3具体包括：
将单波束测深数据转换到WGS84坐标系下的数据；
数据转换模型如下：
其中，h为单波束测深仪测得的海底深度，C为水体的平均声速，t为声波的双程旅行时间，
为单波束测深仪测得的水底地形的WGS84坐标，
为单波束坐标系到惯性导航系统坐标系的旋转矩阵，
为水底地形在单波束坐标系中的坐标，
为单波束测深仪的换能器相位中心在惯性导航系统坐标系中的坐标，
为惯性导航系统坐标系到当地水平坐标系的旋转矩阵，
为当地水平坐标系的旋转矩阵，
为惯性导航系统中心在WGS84坐标系中的坐标；
将拖曳测深数据转换到WGS84坐标系下的数据；
数据转换模型如下：
其中，L为连接杆的长度，α为连接杆水平方向与拖曳测深坐标系Y轴的夹角，β为连接杆垂直方向与拖曳测深坐标系Y轴的夹角，
为拖曳测深装置测得的浅滩地形的WGS84坐标，
为拖曳测深坐标系到惯性导航系统坐标系的旋转矩阵，
为浅滩地形在拖曳测深系统坐标系中的坐标，
为拖曳测深装置相位中心在惯性导航系统坐标系中的坐标，
为惯性导航系统坐标系到当地水平坐标系的旋转矩阵，
为当地水平坐标系的旋转矩阵，
为惯性导航系统中心在WGS84坐标系中的坐标；
将激光扫描仪数据转换到WGS84坐标系下的数据；
数据转换模型如下：
其中，
为激光脚点的WGS84坐标，
为激光扫描仪坐标系到惯性导航系统坐标系的旋转矩阵，
为激光脚点在激光扫描仪坐标系中的坐标，
为激光扫描仪中心在惯性导航系统坐标系中的坐标，
为惯性导航系统坐标系到当地水平坐标系的旋转矩阵，
为当地水平坐标系的旋转矩阵，
为惯性导航系统中心在WGS84坐标系中的坐标。
当然，上述说明并非是对本发明的限制，本发明也并不仅限于上述举例，本技术领域的技术人员在本发明的实质范围内所做出的变化、改型、添加或替换，也应属于本发明的保护范围。
Claims (4)
- 一种潮间带一体化测绘的多传感器数据融合方法，其特征在于，包括载体车，载体车上设置有传感器，传感器包括卫星定位系统、惯性导航系统、激光扫描仪、单波束测深仪和拖曳测深装置；坐标系有单波束坐标系、拖曳测深坐标系、激光扫描仪坐标系，卫星定位系统坐标系和惯性导航系统坐标系，还需要当地水平坐标系和WGS84坐标系；多传感器数据融合方法包括以下步骤：步骤1：采用精密工业测量系统对各传感器相位中心及轴系进行标定；步骤2：分别使用单波束测深装置在浅水区采集数据，使用拖曳测深装置在浅滩区采集数据，使用激光扫描仪在陆地采集数据。步骤3：将激光扫描仪坐标系、单波束坐标系及拖曳测深坐标系下采集的数据坐标转换到WGS84坐标系下。
- 根据权利要求1所述的一种潮间带一体化测绘的多传感器数据融合方法，其特征在于，所述步骤1具体包括以下子步骤：步骤1.1：利用两个经纬仪进行定向测量，确定两个经纬仪之间的相对位置，以此建立空间直角坐标系；步骤1.2：利用空间前方交会测量原理，确定惯性导航系统、激光扫描仪的相位中心以及姿态信息，卫星定位系统、单波束测深仪以及拖曳测深装置的相位中心位置。
- 根据权利要求1所述的一种潮间带一体化测绘的多传感器数据融合方法，其特征在于，所述步骤2具体包括：单波束测深仪包括换能器，通过换能器垂直向下发射短脉冲波，在海底经过反射被换能器接收，通过声波在水中的传播速度以及传播时间，来计算出水深；公式：
式中，h为换能器与水底间的距离，C为水体的平均声速，t为声波的双程旅行时间；通过卫星定位系统赋予单波束测深仪位置信息，能求算出海底地形的三维空间坐标；拖曳测深装置包括连接在载体车后端设置有连接杆，连接杆的前端设置有两个编码器，连接杆的后端设置有滚轮，通过滚轮在不同地形上下左右的移动，传导到连接杆前部的具有垂直和水平两个自由度的编码器，通过垂直和水平方向的角度变化、连接杆的长度以及卫星定位系统、惯性导航系统，求算出浅滩、潮间带地形的三维空间坐标；公式：
(Δx,Δy,Δh)为拖曳测深坐标系下的地物点的坐标，L为连接杆的长度，β为连接杆垂直方向与拖曳测深坐标系Y轴的夹角，α为连接杆水平方向与拖曳测深坐标系Y轴的夹角；激光扫描仪，通过卫星定位系统提供载体精确的位置信息，惯性导航系统提供的载体的空间姿态信息，测得水上地形三维空间坐标。 - 根据权利要求3所述的一种潮间带一体化测绘的多传感器数据融合方法，其特征在于，所述步骤3具体包括：将单波束测深数据转换到WGS84坐标系下的数据；数据转换模型如下：
其中，h为单波束测深仪测得的海底深度，C为水体的平均声速，t为声波的双程旅行时间，为单波束测深仪测得的水底地形的WGS84坐标，
为单波束坐标系到惯性导航系统坐标系的旋转矩阵，
为水底地形在单波束坐标系中的坐标，
为单波束测深仪的换能器相位中心在惯性导航系统坐标系中的坐标，
为惯性导航系统坐标系到当地水平坐标系的旋转矩阵，
为当地水平坐标系的旋转矩阵，
为惯性导航系统中心在WGS84坐标系中的坐标；
将拖曳测深数据转换到WGS84坐标系下的数据；数据转换模型如下：
其中，L为连接杆的长度，α为连接杆水平方向与拖曳测深坐标系Y轴的夹角，β为连接杆垂直方向与拖曳测深坐标系Y轴的夹角，为拖曳测深装置测得的浅滩地形的WGS84坐标，
为拖曳测深坐标系到惯性导航系统坐标系的旋转矩阵，
为浅滩地形在拖曳测深系统坐标系中的坐标，
为拖曳测深装置相位中心在惯性导航系统坐标系中的坐标，
为惯性导航系统坐标系到当地水平坐标系的旋转矩阵，
为当地水平坐标系的旋转矩阵，
为惯性导航系统中心在WGS84坐标系中的坐标；
将激光扫描仪数据转换到WGS84坐标系下的数据；数据转换模型如下：
其中，为激光脚点的WGS84坐标，
为激光扫描仪坐标系到惯性导航系统坐标系的旋转矩阵，
为激光脚点在激光扫描仪坐标系中的坐标，
为激光扫描仪中心在惯性导航系统坐标系中的坐标，
为惯性导航系统坐标系到当地水平坐标系的旋转矩阵，
为当地水平坐标系的旋转矩阵，
为惯性导航系统中心在WGS84坐标系中的坐标。
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