CN113959436A - Laser point cloud data real-time processing system and method - Google Patents
Laser point cloud data real-time processing system and method Download PDFInfo
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- CN113959436A CN113959436A CN202111200108.1A CN202111200108A CN113959436A CN 113959436 A CN113959436 A CN 113959436A CN 202111200108 A CN202111200108 A CN 202111200108A CN 113959436 A CN113959436 A CN 113959436A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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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
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- Automation & Control Theory (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
A real-time processing system for laser point cloud data comprises a laser radar, a GNSS receiver, an inertial navigator and a processing module, wherein the processing module is respectively connected with the laser radar, the GNSS receiver and the inertial navigator; the laser radar is used for collecting laser point cloud data and sending the laser point cloud data to the processing module; the processing module is used for synchronously processing the received data, and processing the laser point cloud data, the GNSS data and the INS data received at the same time, so that the laser point cloud data at the time can obtain absolute coordinates and the laser point cloud data with the obtained absolute coordinates can be simultaneously output and displayed. The received data is processed in real time, so that the laser point cloud data can obtain absolute coordinates, the data acquisition and real-time processing are realized, and the problem that the laser point cloud data cannot be observed in real time in the process of obtaining the absolute coordinates, so that the later-stage acquisition is avoided, and the trouble and the labor are wasted.
Description
Technical Field
The application relates to the technical field of computers, in particular to a laser point cloud data real-time processing system and method.
Background
The mobile measurement is a high and new measurement technology developed in recent years, and high-precision point cloud data around a road are quickly acquired by means of sensors such as a laser radar and an inertial navigation sensor. The original collected data records the distance and the azimuth information from the reflection point to the radar center, but can not be directly used for browsing, analysis, application and the like, and absolute coordinates are obtained after data processing is needed to form point cloud result data for corresponding service application.
The existing point cloud data acquisition and processing are divided into field work and interior work. After field workers collect data on site, field workers process the collected data, the two links are independently carried out, the problem of laser point cloud data generated in the process of obtaining absolute coordinates cannot be found in real time, and the later-stage collection is caused, so that the trouble and the labor are wasted.
Content of application
Object of the application
In view of the above, an object of the present application is to provide a system and a method for processing laser point cloud data in real time, so as to solve the problem that the laser point cloud data cannot obtain absolute coordinates during the acquisition process in the prior art.
(II) technical scheme
The application discloses a laser point cloud data real-time processing system which comprises a laser radar, a GNSS receiver, an inertial navigator and a processing module, wherein the processing module is respectively connected with the laser radar, the GNSS receiver and the inertial navigator;
the laser radar is used for collecting laser point cloud data and sending the laser point cloud data to the processing module;
the GNSS receiver is used for acquiring GNSS data and sending the GNSS data to the processing module;
the inertial navigator is used for acquiring INS data and simultaneously sending the INS data to the processing module;
the processing module is used for synchronously processing the received data, and processing the laser point cloud data, the GNSS data and the INS data received at the same time, so that the laser point cloud data at the time can obtain absolute coordinates and the laser point cloud data with the obtained absolute coordinates can be simultaneously output and displayed.
In a possible implementation manner, the system further includes a time synchronization module, where the time synchronization module is respectively connected to the lidar, the GNSS receiver, and the inertial navigator, and the time synchronization module is configured to synchronize the time of the lidar, the GNSS receiver, the inertial navigator, and the processing module.
In one possible embodiment, the time synchronization module collects a time of the GNSS receiver as a reference time for time synchronization, and the time synchronization module transmits the reference time to the lidar, the inertial navigator, and the processing module.
In a possible implementation manner, the system further comprises a correction module, wherein the correction module is connected with the processing module, and obtains a correction parameter by correcting an error and sends the correction parameter to the processing module.
In a possible embodiment, the correction module collects a plurality of points of the same plane, and obtains the correction parameters by using least square solution.
The second aspect of the present application further discloses a real-time processing method for laser point cloud data, which includes the following steps:
s2, simultaneously acquiring corresponding data by a laser radar, a GNSS receiver and an inertial navigator, and simultaneously transmitting the acquired data into a processing module, wherein the laser radar is used for acquiring laser point cloud data, the GNSS receiver is used for acquiring GNSS data, and the inertial navigator is used for acquiring INS data;
and S3, the processing module is used for carrying out synchronous processing on the received data, and the processing module is used for processing the laser point cloud data, the GNSS data and the INS data which are received at the same time, so that the laser point cloud data at the time can obtain absolute coordinates and simultaneously output and display the laser point cloud data with the obtained absolute coordinates.
In a possible embodiment, step S1 is executed before step S2 is executed, and step S1 is a time synchronization step for time synchronizing the lidar, the GNSS receiver, the inertial navigator, and the processing module by a time synchronization module.
In a possible implementation manner, the time synchronization step specifically includes: and acquiring the time of the GNSS receiver as the reference time of time synchronization, and transmitting the reference time into the laser radar, the inertial navigator and the processing module by the time synchronization module.
In a possible embodiment, step S0 is executed before step S1 is executed, and step S0 is a correction step, and the correction module obtains correction parameters by correcting errors and sends the correction parameters to the processing module.
In a possible implementation manner, the specific steps of the correction module obtaining the correction parameter by correcting the error are as follows: the correction module collects a plurality of points on the same plane, and obtains correction parameters by utilizing least square calculation.
(III) advantageous effects
The system is connected with the laser radar, the GNSS receiver and the inertial navigator respectively through the processing module, wherein the laser radar is used for collecting laser point cloud data and sending the laser point cloud data to the processing module; the GNSS receiver is used for acquiring GNSS data and sending the GNSS data to the processing module; the inertial navigator is used for acquiring INS data and sending the INS data to the processing module; compared with the traditional 'field acquisition and field processing' mode, the real-time processing system for the laser point cloud data processes the acquired original data in real time, avoids later-stage re-acquisition, improves the efficiency of surveying and mapping operation, and avoids the problem that the laser point cloud data cannot be observed in real time in the process of acquiring the absolute coordinates, so that the later-stage re-acquisition is caused, and the trouble and the labor are wasted.
Additional advantages, objects, and features of the application will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the application. The objectives and other advantages of the present application may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining and illustrating the present application and should not be construed as limiting the scope of the present application.
FIG. 1 is a system diagram of the present application;
fig. 2 is a flow chart of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
As shown in fig. 1, this embodiment provides an implementation of a laser point cloud data real-time processing system, which includes a laser radar, a GNSS receiver, an inertial navigator, a calibration module, a time synchronization module, and a processing module, where the processing module is connected to the laser radar, the GNSS receiver, the inertial navigator, the time synchronization module, and the calibration module, respectively, and the time synchronization module is connected to the laser radar, the GNSS receiver, the processing module, and the inertial navigator, respectively;
the laser radar is used for collecting laser point cloud data and sending the laser point cloud data to the processing module;
the GNSS receiver is used for acquiring GNSS data and sending the GNSS data to the processing module;
the inertial navigator is used for acquiring INS data and simultaneously sending the INS data to the processing module;
the processing module is used for synchronously processing the received data, processing the laser point cloud data, the GNSS data and the INS data received at the same time, enabling the laser point cloud data at the same time to obtain absolute coordinates and simultaneously outputting and displaying the laser point cloud data with the obtained absolute coordinates, and comprises a laser point cloud data processing unit, a GNSS data processing unit and an INS data processing unit, wherein the laser point cloud data processing unit is used for processing the laser point cloud data, the GNSS data processing unit is used for processing the GNSS data, the INS data processing unit is used for processing the INS data, and the laser point cloud data is enabled to obtain the absolute coordinates through data fusion.
The system comprises a processing module, a laser radar, a GNSS receiver and an inertial navigator, wherein the processing module is respectively connected with the laser radar, the GNSS receiver and the inertial navigator, and the laser radar is used for acquiring laser point cloud data and simultaneously sending the laser point cloud data to the processing module; the GNSS receiver is used for acquiring GNSS data and sending the GNSS data to the processing module; the inertial navigator is used for acquiring INS data and sending the INS data to the processing module; compared with the traditional 'field acquisition and field processing' mode, the real-time processing system for the laser point cloud data processes the acquired original data in real time, avoids later-stage re-acquisition, improves the efficiency of surveying and mapping operation, and avoids the problem that the laser point cloud data cannot be observed in real time in the process of acquiring the absolute coordinates, so that the later-stage re-acquisition is caused, and the trouble and the labor are wasted.
The time synchronization module is used for enabling the laser radar, the GNSS receiver, the inertial navigator and the processing module to be time-synchronized, the time synchronization module collects the time of the GNSS receiver as reference time of time synchronization, and the time synchronization module transmits the reference time into the laser radar, the inertial navigator and the processing module. In the system, the data required by the time synchronization module is mainly UTC time. The obtained GPRMC format data is converted to obtain UTC time, the time is recorded in a time-minute-second millisecond format, and the laser radar needs a Unix timestamp format, so that the UTC time needs to be converted into the Unix time format and then is sent to the laser radar, the inertial navigator and the processing module to achieve the purpose of time synchronization; the time synchronization module can also acquire a signal of starting to acquire data by acquiring any one of the laser radar, the GNSS receiver, the processing module and the inertial navigator, and transmit the signal of starting to acquire data by any one of the components as a synchronization signal to other components to enable the other components to work simultaneously;
the correction module obtains correction parameters through correcting errors and sends the correction parameters to the processing module, so that the processing module can obtain accurate absolute coordinates of the laser point cloud data;
the correction module collects a plurality of points of the same plane, obtains correction parameters by utilizing least square calculation, and particularly establishes the plane. And performing reciprocating scanning on the plane through a laser radar to obtain laser point cloud data of the reference surface, establishing a correction model, and performing least square calculation to enable the laser point clouds on all the planes to be superposed with the reference surface to obtain correction parameters, so that correction is realized. When the plane is the vertical surface of the building wall, scanning the inside of the wall to obtain absolute coordinate values of laser point cloud data, partitioning according to the height and the width of the scanned wall, selecting a partition central point as a correction point when the height difference in the partition is lower than a correction preset value, abandoning all points in the partition when the height difference in the partition is greater than the correction preset value, performing minimum multiplication calculation on all selected correction points to obtain a fitting plane, and establishing an equation of collimation axis correction parameters, wherein the collimation axis correction parameters comprise:
X＝[α β γ ΔX ΔY ΔZ]
alpha, beta and gamma are collimation axis correction angles respectively;
Δ Z, Δ Y, and Δ Z are correction offsets of the collimation axis, respectively;
the correction parameter equation is as follows:
wherein A isP、BP、CPAnd DPCoefficients of an equation of the fitted plane, respectively;
Xi、Yi、Zirespectively is the absolute coordinate of any correction point;
l is an observed value;
v is an observed value correction value;
X0correcting the initial value of the parameter for the collimation axis;
obtaining the adjustment value of the collimation axis correction parameter through iteration:
as shown in fig. 2, a method for processing laser point cloud data in real time in a second aspect of the present embodiment is provided, including the following steps:
s0, a correction step, in which a correction module obtains correction parameters through correction errors and sends the correction parameters to a processing module, the correction module obtains the correction parameters through the correction errors, specifically, the correction module collects a plurality of points of the same plane, the correction parameters are obtained through least square calculation, the correction module collects the points of the same plane, the correction parameters are obtained through least square calculation, specifically, a plane is established, the laser radar performs reciprocating scanning on the plane to obtain laser point cloud data of a reference plane, a correction model is established, and the least square calculation is used for enabling the laser point clouds on all the planes to be coincident with the reference plane to obtain the correction parameters, so that correction is achieved. When the plane is the vertical surface of the building wall, scanning the inside of the wall to obtain point cloud data, partitioning according to the height and the width of the scanned wall, when the height difference in the partitions is lower than a correction preset value, selecting a partition center point as a correction point, when the height difference in the partitions is greater than the correction preset value, abandoning all points in the partitions, performing minimum multiplication calculation on the selected correction point to obtain a fitting plane, and establishing an equation of the correction parameter, wherein the sighting axis correction parameter comprises:
X＝[α β γ ΔX ΔY ΔZ]
alpha, beta and gamma are collimation axis correction angles respectively;
Δ Z, Δ Y, and Δ Z are correction offsets of the collimation axis, respectively;
the correction parameter equation is
Wherein A isP、BP、CPAnd DPCoefficients of an equation of the fitted plane, respectively;
Xi、Yi、Zirespectively is the absolute coordinate of any correction point;
l is an observed value;
v is an observed value correction value;
X0correcting the initial value of the parameter for the collimation axis;
obtaining the adjustment value of the correction parameter by iteration
And S1, time synchronization, namely, the laser radar, the GNSS receiver, the inertial navigator and the processing module are synchronized in time through a time synchronization module, the time synchronization module acquires the time of the GNSS receiver as reference time for time synchronization, the time synchronization module transmits the reference time into the laser radar, the inertial navigator and the processing module, the time synchronization module acquires the time of the GNSS receiver as reference time for time synchronization, and the time synchronization module transmits the reference time into the laser radar, the inertial navigator and the processing module. In the system, the data required by the time synchronization module is mainly UTC time. The obtained GPRMC format data is converted to obtain UTC time, the time is recorded in a time-minute-second millisecond format, and the laser radar needs a Unix timestamp format, so that the UTC time needs to be converted into the Unix time format and then is sent to the laser radar, the inertial navigator and the processing module to achieve the purpose of time synchronization; the time synchronization module can also acquire a signal of starting to acquire data by any one of the laser radar, the GNSS receiver, the processing module and the inertial navigator, and transmit the signal of starting to acquire data by any one of the components as a synchronization signal to other components to enable the other components to work simultaneously.
S2, simultaneously acquiring corresponding data by a laser radar, a GNSS receiver and an inertial navigator, and simultaneously transmitting the acquired data into a processing module, wherein the laser radar is used for acquiring laser point cloud data, the GNSS receiver is used for acquiring GNSS data, and the inertial navigator is used for acquiring INS data;
and S3, the processing module synchronously processes the laser point cloud data, the GNSS data and the INS data to enable the laser point cloud data to obtain absolute coordinates, the processing module comprises a laser point cloud data processing unit, a GNSS data processing unit and an INS data processing unit, the laser point cloud data processing unit processes the laser point cloud data, the GNSS data processing unit is used for processing the GNSS data, and the INS data processing unit is used for processing the INS data.
Finally, the above embodiments are only used for illustrating the technical solutions of the present application and not for limiting, although the present application is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or substituted without departing from the spirit and scope of the technical solutions of the present application, and all that should be covered by the claims of the present application.
Claims (10)
1. A real-time processing system for laser point cloud data is characterized by comprising a laser radar, a GNSS receiver, an inertial navigator and a processing module, wherein the processing module is respectively connected with the laser radar, the GNSS receiver and the inertial navigator;
the laser radar is used for collecting laser point cloud data and sending the laser point cloud data to the processing module;
the GNSS receiver is used for acquiring GNSS data and sending the GNSS data to the processing module;
the inertial navigator is used for acquiring INS data and simultaneously sending the INS data to the processing module;
the processing module is used for synchronously processing the received data, and processing the laser point cloud data, the GNSS data and the INS data received at the same time, so that the laser point cloud data at the time can obtain absolute coordinates and the laser point cloud data with the obtained absolute coordinates can be simultaneously output and displayed.
2. The laser point cloud data processing system of claim 1, further comprising a time synchronization module, wherein the time synchronization module is respectively connected to the laser radar, the GNSS receiver and the inertial navigator, and the time synchronization module is configured to time-synchronize the laser radar, the GNSS receiver, the inertial navigator and the processing module.
3. The laser point cloud data processing system of claim 2, wherein the time synchronization module collects a time of a GNSS receiver as a reference time of time synchronization, and the time synchronization module transmits the reference time to the laser radar, the inertial navigator and the processing module.
4. The laser point cloud data processing system of claim 1, further comprising a correction module, wherein the correction module is connected with the processing module, and the correction module obtains correction parameters by correcting errors and sends the correction parameters to the processing module.
5. The laser point cloud data processing system of claim 4, wherein the correction module collects a plurality of points in the same plane, and obtains correction parameters by using least square solution.
6. A laser point cloud data parallel processing method is characterized by comprising the following steps:
s2, simultaneously acquiring corresponding data by a laser radar, a GNSS receiver and an inertial navigator, and simultaneously transmitting the acquired data into a processing module, wherein the laser radar is used for acquiring laser point cloud data, the GNSS receiver is used for acquiring GNSS data, and the inertial navigator is used for acquiring INS data;
and S3, the processing module is used for carrying out synchronous processing on the received data, and the processing module is used for processing the laser point cloud data, the GNSS data and the INS data which are received at the same time, so that the laser point cloud data at the time can obtain absolute coordinates and simultaneously output and display the laser point cloud data with the obtained absolute coordinates.
7. The method as claimed in claim 6, wherein step S1 is executed before step S2 is executed, and step S1 is a time synchronization step for time-synchronizing the lidar, the GNSS receiver, the inertial navigator, and the processing module.
8. The laser point cloud data parallel processing method according to claim 6, wherein the time synchronization step specifically comprises: and acquiring the time of the GNSS receiver as the reference time of time synchronization, and transmitting the reference time into the laser radar, the inertial navigator and the processing module by the time synchronization module.
9. The method of claim 8, wherein step S0 is performed before step S1, and step S0 is a correction step, wherein the correction module obtains correction parameters by correcting errors and sends the correction parameters to the processing module.
10. The laser point cloud data parallel processing method of claim 9, wherein the step of obtaining the correction parameters by the correction module through correcting errors comprises the following specific steps: the correction module collects a plurality of points on the same plane, and obtains correction parameters by utilizing least square calculation.
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| CN202111200108.1A CN113959436A (en) | 2021-10-14 | 2021-10-14 | Laser point cloud data real-time processing system and method |
| PCT/CN2021/124564 WO2023060631A1 (en) | 2021-10-14 | 2021-10-19 | System and method for real-time processing of laser point cloud data |
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