CN107817501A - A kind of Processing Method of Point-clouds of variable scan frequency - Google Patents
A kind of Processing Method of Point-clouds of variable scan frequency Download PDFInfo
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- CN107817501A CN107817501A CN201711025506.8A CN201711025506A CN107817501A CN 107817501 A CN107817501 A CN 107817501A CN 201711025506 A CN201711025506 A CN 201711025506A CN 107817501 A CN107817501 A CN 107817501A
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- 238000005259 measurement Methods 0.000 description 8
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/02—Tracing profiles of land surfaces
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- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Multimedia (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention relates to space ranging technical field, more particularly, to a kind of Processing Method of Point-clouds of variable scan frequency.By setting the different transmitting data of two groups of tranmitting frequencies, laser radar periodically switches two groups of data and carries out Laser emission, first group of transmitting data is used to obtain measured zone accurately terrain information, the reasonable return period for each laser emission point launched with second group of transmitting data is calculated by terrain information, so as to obtain accurate range information, solves the problems, such as multicycle reception time of laser in the prior art；In addition, second group of tranmitting frequency can independently be set as needed in the present invention, the point cloud density that higher tranmitting frequency obtains is higher, and the range data measured to measured zone is more accurate.
Description
Technical field
The present invention relates to space ranging technical field, at a kind of cloud data of variable scan frequency
Reason method.
Background technology
Laser radar is a kind of equipment using laser distance measuring, and multiple measurement point distances are reduced into space coordinates,
The final space reduction for realizing surrounding enviroment.Laser emission determines the levels of precision of measurement to the time used in receiving, during unit
The number of the laser of interior transmitting, determine the packing density in a cloud.Ground distance is entered using laser radar in aircraft
During row measurement, due to distant, there is the multicycle in the reception time of laser.
Laser radar launches laser by period demand, and for the launch point P1 at T1 moment, it is t1 to take the time of reception, if
The laser returns to transmitter in cycle T, and the distance measurement value that can be obtained now according to reflection interval and the light velocity is [light velocity *（t1-T1）/2].
If the laser is not reflected back transmitter in cycle T, transmitter will launch next launch point P2 at the T2 moment.Now
There to be P1, two launch points of P2 are run in transmitting or reflection path simultaneously.When point P1 returns to transmitter, transmitter cannot be distinguished by
The laser now returned was launched at T1 the or T2 moment, therefore caused P1 flight time to calculate and erroneous judgement be present.
The solution method that the reception multicycle time problem of laser is traditional is, according to the flying height and landform of aircraft,
Point P flight time is estimated, can return in several cycle Ts, reflection interval is converted in processing data.But in profit
Before being measured with laser radar, it is difficult to obtain accurately terrain data, therefore the distance measurement value degree of accuracy finally obtained also compared with
It is low.
The content of the invention
The present invention is to overcome at least one defect described in above-mentioned prior art, there is provided a kind of point cloud of variable scan frequency
Data processing method, in ranging process, while terrain information is obtained, and the terrain information of acquisition is applied in data analysis
On, the return period of laser emission point is calculated, so as to reduce distance measurement value exactly.
In order to solve the above technical problems, present invention employs following technical scheme：
A kind of Processing Method of Point-clouds of variable scan frequency, point cloud acquisition is carried out using laser radar, comprised the following steps：
S1：The different transmitting data of two groups of tranmitting frequencies are set to the laser radar, wherein being sent out according to first group of transmitting data
The laser penetrated return laser light radar, the tranmitting frequency of second group of transmitting data can launch frequency in a cycle for required highest
Rate；
S2：On the basis of being performed based on step S1, the laser radar periodically switches two groups of data and carries out Laser emission, so as to
Carry out point cloud acquisition；
S3：The step S2 data collected are handled, first with the point cloud number for launching to obtain with first group of transmitting data
According to obtaining terrain information；
S4：The terrain information obtained according to step S3 is calculated with the reasonable of each laser emission point of second group of transmitting data transmitting
Return period, so as to obtain accurate range information.
Further, the tranmitting frequency of first group of transmitting data is swashed by distance first in the light velocity divided by twice of measured zone
The maximum distance of optical radar obtains.Calculate send as an envoy to transmitting laser can in a cycle return laser light radar critical frequency,
To launch laser less than or equal to the tranmitting frequency of the frequency, laser return laser light radar in a cycle can guarantee that.
Further, the highest tranmitting frequency needed for step S1 is according to aircraft flight height, topographic features（By first group
The data of laser collection obtain）And laser radar frequency itself and the relation of corresponding scanning distance etc. consider, and take permission
Maximum scan frequency, i.e., the tranmitting frequency of second group laser are the data dynamic adjustment gathered according to first group of laser.
Further, the cloud data that step S3 mesorelief information obtains according to the laser launched with first group of transmitting data
Filtering obtains.
Compared with prior art, beneficial effect is：By setting the different transmitting data of two groups of tranmitting frequencies, laser radar
Periodically switching two groups of data and carry out Laser emission, first group of transmitting data is used to obtain measured zone accurately terrain information,
The reasonable return period for each laser emission point launched with second group of transmitting data is calculated by terrain information, so as to obtain standard
True range information, solves the problems, such as multicycle reception time of laser in the prior art；In addition, second group of transmitting in the present invention
Frequency can independently be set as needed, and the point cloud density that higher tranmitting frequency obtains is higher, and measured zone is measured
Range data is more accurate.
Brief description of the drawings
Fig. 1 is the flow chart of one embodiment of the invention.
Embodiment
The present invention is described further below in conjunction with the accompanying drawings, it is necessary to illustrate, being given for example only property of accompanying drawing illustrates,
It is not intended that the limitation to this patent.
As shown in figure 1, a kind of Processing Method of Point-clouds of variable scan frequency, carries out a cloud using laser radar and adopts
Collection, comprises the following steps：
S1：The different transmitting data of two groups of tranmitting frequencies are set to the laser radar, wherein being sent out according to first group of transmitting data
The laser penetrated return laser light radar, the tranmitting frequency of second group of transmitting data can launch frequency in a cycle for required highest
Rate；
S2：On the basis of being performed based on step S1, the laser radar periodically switches two groups of data and carries out Laser emission, so as to
Carry out point cloud acquisition；
S3：The step S2 data collected are handled, first with the point cloud number for launching to obtain with first group of transmitting data
According to being filtered to obtain terrain information；
S4：The terrain information obtained according to step S3 is calculated with the reasonable of each laser emission point of second group of transmitting data transmitting
Return period, so as to obtain accurate range information.
In the present embodiment, laser radar used is rigel VUX-1 equipment.It should be noted that the present invention is applied to
Various laser radars, rigel VUX-1 equipment are the laser radar used in the present embodiment, it is impossible to are interpreted as to this hair
Bright limitation.
In the present embodiment, the maximum distance in a cycle measured zone apart from laser radar is no more than 394.7 meters.Take
The tranmitting frequency 380khz, the tranmitting frequency 550khz of second group of transmitting data of first group of transmitting data.Wherein first group of transmitting
The tranmitting frequency of data is obtained by the maximum distance of the light velocity divided by twice of measured zone middle-range first laser radar, i.e. the light velocity
3E8/（394.7×2）=380khz；Now the farthest distance measurement value in a cycle of first group of transmitting data is 394.7 meters, the
Farthest distance measurement value in a cycle of two groups of transmitting data is 272.7 meters.Now in measured zone, pass through first group of transmitting
The laser of data transmitting can recognize that the distance of each target range laser radar is less than 272.7 meters, or 272.7 to 394.7
Rice scope, judge that with the laser spots that second group of transmitting data is launched be the return or the in a cycle according to this result
Returned in two cycles, to the ranging data calculating process of the laser of second group of transmitting data transmitting, can accurate reproduction ranging
Value.In addition, in the present embodiment, laser transmission is carried out as a result of two groups of data, is increased, ranging number point cloud very dense
According to precision also significantly improve.
Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not pair
The restriction of embodiments of the present invention.For those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms.There is no necessity and possibility to exhaust all the enbodiments.It is all this
All any modification, equivalent and improvement made within the spirit and principle of invention etc., should be included in the claims in the present invention
Protection domain within.
Claims (3)
1. a kind of Processing Method of Point-clouds of variable scan frequency, point cloud acquisition is carried out using laser radar, it is characterised in that
Comprise the following steps：
S1：The different transmitting data of two groups of tranmitting frequencies are set to the laser radar, wherein being sent out according to first group of transmitting data
The laser penetrated return laser light radar, the tranmitting frequency of second group of transmitting data can launch frequency in a cycle for required highest
Rate；
S2：On the basis of being performed based on step S1, the laser radar periodically switches two groups of data and carries out Laser emission, so as to
Carry out point cloud acquisition；
S3：The step S2 data collected are handled, first with the point cloud number for launching to obtain with first group of transmitting data
According to obtaining terrain information；
S4：The terrain information obtained according to step S3 is calculated with the reasonable of each laser emission point of second group of transmitting data transmitting
Return period, so as to obtain accurate range information.
A kind of 2. Processing Method of Point-clouds of variable scan frequency according to claim 1, it is characterised in that：Described
The tranmitting frequency of first group of transmitting data passes through the maximum distance in the light velocity divided by twice of measured zone apart from first laser radar
Obtain.
A kind of 3. Processing Method of Point-clouds of variable scan frequency according to claim 1, it is characterised in that the step
The cloud data that rapid S3 mesorelief information obtains according to the laser launched with first group of transmitting data filters to obtain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711025506.8A CN107817501B (en) | 2017-10-27 | 2017-10-27 | Point cloud data processing method with variable scanning frequency |
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| CN201711025506.8A CN107817501B (en) | 2017-10-27 | 2017-10-27 | Point cloud data processing method with variable scanning frequency |
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| CN107817501A true CN107817501A (en) | 2018-03-20 |
| CN107817501B CN107817501B (en) | 2021-07-13 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020142928A1 (en) * | 2019-01-09 | 2020-07-16 | 深圳市大疆创新科技有限公司 | Ranging device, application method for point cloud data, perception system, and mobile platform |
| WO2021232227A1 (en) * | 2020-05-19 | 2021-11-25 | 深圳市大疆创新科技有限公司 | Point cloud frame construction method, target detection method, ranging apparatus, movable platform, and storage medium |
| US11294151B2 (en) | 2019-01-02 | 2022-04-05 | Jiangxi Lianyi Optics Co., Ltd. | Optical imaging lens, camera module and mobile phone |
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| CN1651856A (en) * | 2005-02-08 | 2005-08-10 | 王治平 | Laser digital angle measuring method and apparatus thereof |
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2017
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| US20100157736A1 (en) * | 2007-06-15 | 2010-06-24 | University Of Limerick | Method and apparatus for determining the topography of a seafloor and a vessel comprising the apparatus |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11294151B2 (en) | 2019-01-02 | 2022-04-05 | Jiangxi Lianyi Optics Co., Ltd. | Optical imaging lens, camera module and mobile phone |
| WO2020142928A1 (en) * | 2019-01-09 | 2020-07-16 | 深圳市大疆创新科技有限公司 | Ranging device, application method for point cloud data, perception system, and mobile platform |
| WO2021232227A1 (en) * | 2020-05-19 | 2021-11-25 | 深圳市大疆创新科技有限公司 | Point cloud frame construction method, target detection method, ranging apparatus, movable platform, and storage medium |
| CN114026461A (en) * | 2020-05-19 | 2022-02-08 | 深圳市大疆创新科技有限公司 | Method for constructing point cloud frame, target detection method, distance measuring device, movable platform and storage medium |
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| CN107817501B (en) | 2021-07-13 |
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