CN102338616B - Three-dimensional rotation scanning measurement system and method in conjunction with positioning and orientation system - Google Patents
Three-dimensional rotation scanning measurement system and method in conjunction with positioning and orientation system Download PDFInfo
- Publication number
- CN102338616B CN102338616B CN201010236263.4A CN201010236263A CN102338616B CN 102338616 B CN102338616 B CN 102338616B CN 201010236263 A CN201010236263 A CN 201010236263A CN 102338616 B CN102338616 B CN 102338616B
- Authority
- CN
- China
- Prior art keywords
- positioning
- orientation
- image acquisition
- acquisition device
- electronics turntable
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
A kind of three-dimensional rotation scanning measurement system of combination positioning and orientation system, including positioning and orientation device, image acquisition device, there is electronics turntable and the integrating apparatus of a center of rotation, positioning and orientation device and image acquisition device are arranged on electronics turntable, and the coordinate center of positioning and orientation device and image acquisition device overlaps with the center of rotation of described electronics turntable, positioning and orientation device is for obtaining the absolute position data of electronics turntable, image acquisition device obtains the cloud data of a measured target thing, integrating apparatus carries out Combined Calculation to the absolute position data of electronics turntable and the cloud data of measured target thing, to obtain the absolute position data of the some cloud of described measured target thing and to set up the threedimensional model of described measured target thing.Present invention also offers a kind of three-dimensional rotation scanning survey method of combination positioning and orientation system, the three-dimensional rotation scanning measurement system of described combination positioning and orientation system and method reduce the workload of three-dimensional measurement.
Description
Technical field
The present invention relates to a kind of measurement system, particularly relate to three-dimensional rotation scanning measurement system and the method for a kind of combination positioning and orientation system.
Background technology
Fast development along with laser technology, the Airborne Laser Scan is widely used in every field, at present, in traverse measurement field, the Airborne Laser Scan is become continuous automatic data collection mode from traditional single-point acquiring data mode, substantially increases measurement efficiency.But, when measured target thing is bigger, the form taking to spell station is needed to be scanned, multiple website will be divided into by testee, it is scanned respectively, then the cloud data obtained is spliced, for ensureing the accuracy of splicing, the point cloud of adjacent sites to be made has certain degree of overlapping, utilize the discernible target of scanner as the public control point of adjacent sites, the coordinate system of each website is changed under the same coordinate system, for large construction field, complicated building etc., the workload of splicing is quite big, and can reduce certainty of measurement.
Summary of the invention
In view of the above-mentioned problems in the prior art, present invention is primarily targeted at the defect solving prior art, it is provided that a kind of low workload, high accuracy three-dimensional measure system and method.
A kind of three-dimensional rotation scanning measurement system of combination positioning and orientation system, including a positioning and orientation device, one image acquisition device, the one electronics turntable with a center of rotation and an integrating apparatus, described positioning and orientation device and image acquisition device are arranged on described electronics turntable, and described positioning and orientation device and the coordinate center of image acquisition device overlap with the center of rotation of described electronics turntable, described positioning and orientation device is for obtaining the absolute position data of described electronics turntable, described image acquisition device is for obtaining the cloud data of a measured target thing, described integrating apparatus is for carrying out Combined Calculation to the absolute position data of described electronics turntable and the cloud data of described measured target thing, to obtain the absolute position data of the some cloud of described measured target thing and to set up the threedimensional model of described measured target thing.
A kind of three-dimensional rotation scanning survey method of combination positioning and orientation system, including:
The absolute location information of an electronics turntable is obtained by a positioning and orientation device, described electronics turntable is used for installing described positioning and orientation device and an image acquisition device, described electronics turntable has the center superposition of a center of rotation, the coordinate center of described positioning and orientation device and image acquisition device and described electronics turntable；
The cloud data of measured target thing is obtained by described image acquisition device；And
The cloud data that the absolute position data obtained described positioning and orientation device by an integrating apparatus and image acquisition device are obtained carries out Combined Calculation to obtain by the absolute position data of the some cloud of side object, and sets up the threedimensional model of measured target thing.
Positioning and orientation device is combined by three-dimensional rotation scanning measurement system and the method for described combination positioning and orientation system with image acquisition device, when the scope of measurement is bigger, the absolute position data of the some cloud of each website of measured target thing can be directly obtained, without arranging the spelling station work that target of the same name carries out between survey station, decrease workload, improve certainty of measurement.
Accompanying drawing explanation
Fig. 1 is the structural representation that the present invention combines the three-dimensional rotation scanning measurement system better embodiment of positioning and orientation system.
Fig. 2 is the connection diagram of positioning and orientation device, image acquisition device and the integrating apparatus in Fig. 1.
Fig. 3 is the flow chart that the present invention combines the three-dimensional rotation scanning survey method better embodiment of positioning and orientation system.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings and the specific embodiments.
Refer to Fig. 1, the present invention combines the three-dimensional rotation scanning measurement system 1 of positioning and orientation system for measuring the three-dimensional information of an object, the three-dimensional rotation scanning measurement system 1 of described combination positioning and orientation system may be installed on a motion carrier or on a fixture, when the three-dimensional rotation scanning measurement system 1 of described combination positioning and orientation system is arranged on motion carrier, the traverse measurement to measured target thing can be realized.The better embodiment of the three-dimensional rotation scanning measurement system 1 of described combination positioning and orientation system includes positioning and orientation device 10, image acquisition device 20, electronics turntable 30 and an integrating apparatus 40, is connected with each other by holding wire or communicates wirelessly between described positioning and orientation device 10, image acquisition device 20 and described integrating apparatus 40.
Described positioning and orientation device 10 and image acquisition device 20 are fixedly mounted on the upper of described electronics turntable 30, described electronics turntable 30 has a center of rotation, the coordinate center of described positioning and orientation device 10 and image acquisition device 20 overlaps with the center of rotation of described electronics turntable 30, described electronics turntable 30 can rotate about center and do 360 degree of horizontal revolving motion, when described electronics turntable 30 rotates, described positioning and orientation device 10 and image acquisition device 20 rotate with described electronics turntable 30.
Please continue to refer to Fig. 2, described positioning and orientation device 10 is for obtaining the absolute position data of described electronics turntable 30, it includes an Inertial Measurement Unit (Inertial Measurement Unit, IMU) 110 and a GPS (Global Position System, GPS) 120, described inertial measurement system 110 rotates about the angle of central rotation for obtaining described electronics turntable 30, and described global positioning system 120 is used for the center of rotation measuring described electronics turntable 30 absolute coordinate under whole world unified coordinate system (WGS-84).
In present embodiment, described image acquisition device 20 is a laser scanner, for measured target thing carrying out laser scanning to obtain the cloud data of measured target thing.
Described integration platform 40 is used for the center of rotation receiving the electronics turntable 30 of the anglec of rotation of the electronics turntable 30 acquired in described Inertial Measurement Unit 110 and described global positioning system 120 acquisition absolute coordinate under whole world unified coordinate system (WGS-84) and the cloud data of described image acquisition device 20 acquisition, and the data received are carried out Combined Calculation, obtain the absolute position data of the some cloud of measured target thing, the some cloud of the most described measured target thing absolute coordinate under the unified coordinate system of the described whole world.When the scope of measurement is bigger, the some cloud of measured target each survey station of thing absolute coordinate under the unified coordinate system of the described whole world can be obtained respectively by said method, finally set up the threedimensional model of described measured target thing.
In present embodiment, described integration platform 40 carries out calibration also by method of least square to described positioning and orientation device 10 and the installation site of image acquisition device 20 and angular error, be equivalent to make up the difference the measurement error caused by described positioning and orientation device 10 and the installation site of image acquisition device 20 and angular error computing, therefore, the threedimensional model of the most accurate available described measured target thing.
In present embodiment, described global positioning system 120 also provides for a PPS (Pulses Per Second, every pulse per second (PPS)) signal and a serial ports time signal are as described Inertial Measurement Unit 110 and the external trigger signal of described image acquisition device 20, so that described positioning and orientation device 10 and described image acquisition device synchronous working.
Refer to Fig. 3, the present invention combines the three-dimensional rotation scanning survey method of positioning and orientation system and is applied in the three-dimensional rotation scanning measurement system 1 of described combination positioning and orientation system, and its better embodiment comprises the following steps:
Step S1: obtained the absolute position data of described electronics turntable 30 by described positioning and orientation device 10, this absolute position data includes that the center of rotation of described electronics turntable 30 absolute coordinate under the unified coordinate system of the described whole world and described electronics turntable 30 rotate about the angle of central rotation；
Step S2: trigger described image acquisition device 20 by described positioning and orientation device 10 and scan measured target thing to synchronize to obtain the cloud data of measured target thing, wherein, described positioning and orientation device 10 sends PPS signal by described global positioning system 120 and serial ports time signal triggers described image acquisition device 20；
Step S3: the cloud data that the absolute location information obtained described positioning and orientation device 10 by described integrating apparatus 40 and image acquisition device 20 are obtained carries out Combined Calculation and puts cloud absolute coordinate under the unified coordinate system of the described whole world acquired in obtaining, and sets up the threedimensional model of measured target thing according to the absolute coordinate of the some cloud obtained；And
Step S4: described integrating apparatus 40 carries out calibration by method of least square to described positioning and orientation device 10 and the installation site of image acquisition device 20 and angular error.
In present embodiment, described step S2 and step S1 are carried out simultaneously.
The present invention combines the three-dimensional rotation scanning measurement system of positioning and orientation system and positioning and orientation device 10 is combined by method with image acquisition device 20, when the scope of measurement is bigger, can directly obtain measured target thing each website some cloud the whole world unified coordinate system under absolute coordinate, without arranging the spelling station work that target of the same name carries out between survey station, decrease workload, improve certainty of measurement.
Claims (7)
1. combine a three-dimensional rotation scanning measurement system for positioning and orientation system, fixed including a location
Appearance device, an image acquisition device, electronics turntable and an integrating apparatus with a center of rotation,
Described positioning and orientation device and image acquisition device are arranged on described electronics turntable, and described location is fixed
The coordinate center of appearance device and image acquisition device overlaps with the center of rotation of described electronics turntable, described
Positioning and orientation device is for obtaining the absolute position data of described electronics turntable, described image acquisition device
For obtaining the cloud data of a measured target thing, described integrating apparatus is for described electronics turntable
The cloud data of absolute position data and described measured target thing carries out Combined Calculation, by a young waiter in a wineshop or an inn
Described positioning and orientation device and the installation site of image acquisition device and angular error are examined by multiplication
School, to obtain the absolute position data of the some cloud of described measured target thing and to set up described measured target thing
Threedimensional model；
Described positioning and orientation device includes an Inertial Measurement Unit and a global positioning system, described inertia
Measuring unit rotates about the angle of central rotation, described global location for measuring described electronics turntable
System is used for the center of rotation measuring described electronics turntable absolute coordinate under the unified coordinate system of the whole world,
Described global positioning system also provides for a PPS signal and a serial ports time signal is surveyed as described inertia
Amount unit and the external trigger signal of described image acquisition device, make described positioning and orientation device and institute
State image acquisition device synchronous working.
Combine the three-dimensional rotation scanning measurement system of positioning and orientation system the most as claimed in claim 1,
It is characterized in that: during the absolute position data of described electronics turntable includes that described electronics turntable rotates about
The heart rotate angle and described electronics turntable center of rotation the whole world unified coordinate system under absolute
Coordinate.
Combine the three-dimensional rotation scanning measurement system of positioning and orientation system the most as claimed in claim 1,
It is characterized in that: described image acquisition device is a laser scanner.
Combine the three-dimensional rotation scanning measurement system of positioning and orientation system the most as claimed in claim 1,
It is characterized in that: described integration platform is a computer.
5. combine a three-dimensional rotation scanning survey method for positioning and orientation system, including:
The absolute location information of an electronics turntable, described electronics turntable is obtained by a positioning and orientation device
For installing described positioning and orientation device and an image acquisition device, described electronics turntable has a rotation
Turn center, the coordinate center of described positioning and orientation device and image acquisition device and described electronics turntable
Center superposition；
The cloud data of measured target thing is obtained: described image collection fills by described image acquisition device
Put and receive every pps pulse per second signal and the serial ports time signal from described positioning and orientation device；And
The absolute position data and the image that are obtained described positioning and orientation device by an integrating apparatus are adopted
The cloud data that acquisition means obtains carries out Combined Calculation, is filled described positioning and orientation by method of least square
Put the installation site with image acquisition device and angular error carries out calibration, to obtain by side object
The absolute position data of some cloud, and set up the threedimensional model of measured target thing.
Combine the three-dimensional rotation scanning survey method of positioning and orientation system the most as claimed in claim 5,
It is characterized in that: during the absolute position data of described electronics turntable includes that described electronics turntable rotates about
The heart rotate angle and described electronics turntable center of rotation the whole world unified coordinate system under absolute
Coordinate.
Combine the three-dimensional rotation scanning survey method of positioning and orientation system the most as claimed in claim 6,
It is characterized in that: described positioning and orientation device by one Inertial Measurement Unit measure described electronics turntable around
The angle that its center of rotation rotates, and the rotation of described electronics turntable is measured by a global positioning system
Center absolute coordinate under the unified coordinate system of the whole world.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010236263.4A CN102338616B (en) | 2010-07-22 | 2010-07-22 | Three-dimensional rotation scanning measurement system and method in conjunction with positioning and orientation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010236263.4A CN102338616B (en) | 2010-07-22 | 2010-07-22 | Three-dimensional rotation scanning measurement system and method in conjunction with positioning and orientation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102338616A CN102338616A (en) | 2012-02-01 |
| CN102338616B true CN102338616B (en) | 2016-08-17 |
Family
ID=45514469
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010236263.4A Active CN102338616B (en) | 2010-07-22 | 2010-07-22 | Three-dimensional rotation scanning measurement system and method in conjunction with positioning and orientation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102338616B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102607457B (en) * | 2012-03-05 | 2014-12-10 | 西安交通大学 | Measuring device and measuring method for large three-dimensional morphology based on inertial navigation technology |
| JP6429772B2 (en) | 2012-07-04 | 2018-11-28 | クレアフォーム・インコーポレイテッドＣｒｅａｆｏｒｍ Ｉｎｃ． | 3D scanning and positioning system |
| EP2875314B1 (en) | 2012-07-18 | 2017-08-16 | Creaform Inc. | System and method for 3d scanning of the surface geometry of an object |
| US10019839B2 (en) * | 2016-06-30 | 2018-07-10 | Microsoft Technology Licensing, Llc | Three-dimensional object scanning feedback |
| WO2018027259A1 (en) | 2016-08-08 | 2018-02-15 | Bionics Institute | Systems and methods for monitoring neural activity |
| JP7144450B2 (en) | 2017-05-22 | 2022-09-29 | ディープ・ブレイン・スティムレーション・テクノロジーズ・ピーティーワイ・リミテッド | Systems and methods for monitoring neural activity |
| CN107797129B (en) * | 2017-10-13 | 2020-06-05 | 重庆市勘测院 | Point cloud data acquisition method and device under no GNSS signal |
| CN108347561B (en) * | 2017-10-27 | 2020-01-03 | 广东康云多维视觉智能科技有限公司 | Laser guide scanning system and scanning method |
| CN108347596B (en) * | 2017-11-02 | 2020-01-31 | 广东康云多维视觉智能科技有限公司 | laser guide scanning system and method based on feedback |
| CN108007374A (en) * | 2017-12-18 | 2018-05-08 | 武汉市市政建设集团有限公司 | A kind of building deformation laser point cloud data grid deviation analysis method |
| CN110186389B (en) * | 2019-05-21 | 2021-07-06 | 广东省计量科学研究院（华南国家计量测试中心） | Marker-free multi-station in-tank point cloud acquisition method and system and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5751344A (en) * | 1995-07-05 | 1998-05-12 | Schnee; Robert Alan | Navigation system for a marine vessel in low light conditions |
| CN101241011A (en) * | 2007-02-28 | 2008-08-13 | 北京北科天绘科技有限公司 | High precision positioning and posture-fixing device on laser radar platform and method |
| CN101303228A (en) * | 2008-06-11 | 2008-11-12 | 中国矿业大学 | Method and apparatus associating GPS position with three-dimensional laser scanner measurement |
| CN101738173A (en) * | 2008-11-20 | 2010-06-16 | 首都师范大学 | Singlechip, grating and double-reading head-based three-dimensional laser scanning measurement system |
| CN201858963U (en) * | 2010-07-22 | 2011-06-08 | 首都师范大学 | Three-dimensional rotation scanning measurement system combined with position and orientation system |
-
2010
- 2010-07-22 CN CN201010236263.4A patent/CN102338616B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5751344A (en) * | 1995-07-05 | 1998-05-12 | Schnee; Robert Alan | Navigation system for a marine vessel in low light conditions |
| CN101241011A (en) * | 2007-02-28 | 2008-08-13 | 北京北科天绘科技有限公司 | High precision positioning and posture-fixing device on laser radar platform and method |
| CN101303228A (en) * | 2008-06-11 | 2008-11-12 | 中国矿业大学 | Method and apparatus associating GPS position with three-dimensional laser scanner measurement |
| CN101738173A (en) * | 2008-11-20 | 2010-06-16 | 首都师范大学 | Singlechip, grating and double-reading head-based three-dimensional laser scanning measurement system |
| CN201858963U (en) * | 2010-07-22 | 2011-06-08 | 首都师范大学 | Three-dimensional rotation scanning measurement system combined with position and orientation system |
Non-Patent Citations (1)
| Title |
|---|
| 车载三维数据获取与处理系统设计与实现;魏波,等;《中国体现学与图像分析》;20080325;第13卷(第1期);第31页-33页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102338616A (en) | 2012-02-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102338616B (en) | Three-dimensional rotation scanning measurement system and method in conjunction with positioning and orientation system | |
| US20200344414A1 (en) | Three dimensional image capture system for imaging building facades using a digital camera, a near-infrared camera, and laser range finder | |
| CN108344397B (en) | Automatic modeling method and system based on oblique photography technology and auxiliary device thereof | |
| US10209361B2 (en) | Positioning device for an optical triangulation sensor | |
| CN104964673B (en) | It is a kind of can positioning and orientation close range photogrammetric system and measuring method | |
| CN107807365A (en) | Small-sized digital photography there-dimensional laser scanning device for the unmanned airborne vehicle in low latitude | |
| US20140336928A1 (en) | System and Method of Automated Civil Infrastructure Metrology for Inspection, Analysis, and Information Modeling | |
| CN103983262A (en) | Determination method and apparatus for advancing route based on optical communication | |
| CN102706361B (en) | A kind of high precision many inertial navigation systems attitude accuracy assessment method | |
| CN109212540A (en) | Distance measuring method, device and readable storage medium storing program for executing based on laser radar system | |
| CN103438829A (en) | Intelligent laser three-dimensional information measurement instrument | |
| CN102997846A (en) | Full-airplane horizontal measurement method based on work space measurement location system | |
| CN103900560A (en) | Indoor positioning device and method thereof based on white light/INS (Inertial Navigation System) combination | |
| CN111272142B (en) | High formwork settlement monitoring device and method | |
| CN105388908A (en) | Machine vision-based unmanned aerial vehicle positioned landing method and system | |
| CN109579876A (en) | A kind of high dynamic Direction-of-Arrival angle calibration method under land state moving base | |
| CN104913775A (en) | Method for measuring height of transmission line of unmanned aerial vehicle and method and device for positioning unmanned aerial vehicle | |
| CN204965189U (en) | A data synchronization system for unmanned aerial vehicle | |
| CN110398258A (en) | A kind of performance testing device and method of inertial navigation system | |
| CN108152838A (en) | It is a kind of that the device and method for measuring target location are taken aim at based on sight | |
| CN203203587U (en) | Real-point real-time gradient measuring device based on laser ranging | |
| CN104655071A (en) | Tree height measurement instrument used for measuring tree height | |
| CN105321186B (en) | A kind of enclosure space map acquisition method and device based on orthogonal projection | |
| CN201858963U (en) | Three-dimensional rotation scanning measurement system combined with position and orientation system | |
| CN107063180A (en) | Portable Geotechnical Engineering dual-axis inclinometer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |