The mapping method of vehicle-mounted extreme terrain in a kind of Surveying EngineeringTechnical field
The invention discloses a kind of mapping method of vehicle-mounted extreme terrain in Surveying Engineering, specially Surveying Engineering technology is ledDomain.
Background technology
Surveying Engineering be mainly measure space, the earth various information and topographic mapping, measurement range cover space,All various aspects such as landform.Various planets, Gravity Problem of the main study subject in space including the earth；Landform mainly coversThe fields such as landforms, water wave.Extreme terrain due to its complexity and variability on the spot, when actually measuring with the survey of general landformAmount is big different.The selection of mapping method is of great significance in the mapping of extreme terrain.The mapping of traditional extreme terrainMethod can not collect complete data, and then influence its follow-up work.For this purpose, we have proposed vehicle-mounted in a kind of Surveying EngineeringThe mapping method of extreme terrain comes into operation, to solve the above problems.
Invention content
The purpose of the present invention is to provide a kind of mapping methods of vehicle-mounted extreme terrain in Surveying Engineering, to solve the above-mentioned back of the bodyThe problem of being proposed in scape technology.
To achieve the above object, the present invention provides the following technical solutions：The survey of vehicle-mounted extreme terrain in a kind of Surveying EngineeringMethod is painted, this method is as follows：
S1：Vehicle at the uniform velocity travels in extreme terrain environment, same by data collecting system under the control of car-mounted computerThe spatial data and attribute data of step acquisition extreme terrain；
S2：The original measurement information of collected positioning and directing is imported by serial communication in car-mounted computer, to originalThe extraction that beginning measurement data carries out point, line, surface feature can determine the 3 dimensional coil geometry that landforms measure；
S3：Position using the output of high accuracy positioning orientation system and posture information, the extraction measurement object from point cloud dataExtraction linear character and data texturing in the information that the 3 dimensional coil geometry and upper thread array CCD camera of body measure are realized three-dimensionalReal scene models；
S4：Based on vehicular platform, using satellite broadband communication means, realize logical with the video of remote command center, voiceNews, and realize that magnanimity influences the remote transmission of data and video data, upload field surveys achievement to command centre.
Preferably, in the step S1, data collecting system includes area array CCD camera and linear array CCD camera, wherein face battle arrayCCD camera acquires the data texturings such as the various topography and geomorphologies on driving vehicle periphery, trees, building, and linear array CCD camera is responsible forCollection vehicle travels the attribute informations such as reason axis and pavement marker.
Preferably, in the step S1, vehicle remains a constant speed traveling during dynamic acquisition, while with GPS clockThe time reference that time in module measures as whole system.
Preferably, in the step S2, original measurement information pre-processing algorithm is used to the extraction of raw measurement data, i.e.,Collected original measurement information is pre-processed, judges the completeness and efficiency of acquired data, and rejects outlier,Data are smoothed using filtering technology, obtain the valid data of high confidence level.
Preferably, in the step S3, high accuracy positioning orientation system by laser scanner, Differential Global Positioning System withAnd central processing unit composition, and using the error control technique of multi-sensor information fusion and data smoothing, meet vehicle-mounted mobileThe high-precision of measurement and high performance demand.
Preferably, in the step S4, satellite broadband communication is by communication report center, vehicle-mounted mobile station and telecommunication satellite groupAt wherein being communicated by wireless telecommunications shortwave between communication report center and vehicle-mounted mobile station.
Compared with prior art, the beneficial effects of the invention are as follows：For the present invention on the basis of Vehicle Technology, it is special to completeThe Surveying Engineering of topography and geomorphology ensures the high confidence level and high-accuracy of surveying and mapping data using laser mapping technology, and passes throughHigh accuracy three-dimensional three-dimensional model is established, solves the problems, such as the surveying and mapping data poor accuracy of extreme terrain landforms, while this isUnite it is same be integrated on vehicle, also can be mounted on unmanned vehicle on, improve its scope of application.
Description of the drawings
Fig. 1 is work flow diagram of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, completeSite preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based onEmbodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every otherEmbodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, the present invention provides a kind of technical solution：The mapping side of vehicle-mounted extreme terrain in a kind of Surveying EngineeringMethod, this method are as follows：
S1：Vehicle at the uniform velocity travels in extreme terrain environment, same by data collecting system under the control of car-mounted computerThe spatial data and attribute data of step acquisition extreme terrain, data collecting system includes area array CCD camera and linear array CCD camera,The wherein data texturings such as the various topography and geomorphologies on area array CCD camera acquisition driving vehicle periphery, trees, building, and line array CCDCamera is responsible for the collection vehicle traveling attribute informations such as reason axis and pavement marker, and vehicle is kept during dynamic acquisitionThe time reference at the uniform velocity travelling, while being measured using the time in GPS clock module as whole system；
S2：The original measurement information of collected positioning and directing is imported by serial communication in car-mounted computer, to originalThe extraction that beginning measurement data carries out point, line, surface feature can determine the 3 dimensional coil geometry that landforms measure, to raw measurement dataExtraction uses original measurement information pre-processing algorithm, i.e., is pre-processed to collected original measurement information, judge to be acquiredData completeness and efficiency, and reject outlier, data be smoothed using filtering technology, obtaining height canThe valid data of reliability；
S3：Position using the output of high accuracy positioning orientation system and posture information, the extraction measurement object from point cloud dataExtraction linear character and data texturing in the information that the 3 dimensional coil geometry and upper thread array CCD camera of body measure are realized three-dimensionalReal scene models, and high accuracy positioning orientation system is by laser scanner, Differential Global Positioning System and central processing unit groupAt, and using multi-sensor information fusion and data smoothing error control technique, meet vehicle-mounted mobile measurement high-precision andHigh performance demand；
S4：Based on vehicular platform, using satellite broadband communication means, realize logical with the video of remote command center, voiceNews, and realize that magnanimity influences the remote transmission of data and video data, upload field surveys achievement, Broadband Satellite to command centreCommunication is made of communication report center, vehicle-mounted mobile station and telecommunication satellite, is led to wherein between communication report center and vehicle-mounted mobile stationWireless telecommunications shortwave is crossed to be communicated.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be withUnderstanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replaceAnd modification, the scope of the present invention is defined by the appended.