CN106411493B - Streetscape acquires method of data synchronization, apparatus and system - Google Patents
Streetscape acquires method of data synchronization, apparatus and system Download PDFInfo
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Abstract
The present invention relates to a kind of streetscapes to acquire method of data synchronization, apparatus and system, in one embodiment, which comprises electric terminal sends signal output order according to predeterminated frequency to synchronization module；After the synchronization module receives the signal output order, while shutter control signal and sync break signal are exported, the output shutter control signal and the sync break signal are respectively supplied to recording image equipment and inertial measuring unit；When the shutter control signal starts, the recording image equipment triggering shutter is taken pictures；When the sync break signal starts, the inertial measuring unit, which interrupts, to be measured and obtains the measurement data recorded when interruption, wherein the shutter control signal is synchronous at the beginning of the sync break signal.Synchronization accuracy when streetscape provided by the invention acquires method of data synchronization, apparatus and system can effectively improve streetscape acquisition system acquisition data between equipment.
Description
Technical field
The present invention relates to field of computer technology, in particular to a kind of streetscape acquires method of data synchronization, apparatus and system.
Background technique
It is universal with computer and various electric terminals, it is provided more to adapt to various each terminals of user demand
Function.When user is in a strange environment, electronic map becomes the essential demand of the user, provides for user
Route facilitates user to search destination.Further, electronic map provides streetscape look facility, can help vividerly
User searches place.Streetscape look facility mainly passes through streetscape acquisition system and realizes, streetscape acquisition system mainly includes that inertia is surveyed
Device (Inertial Measurement Unit, IMU), laser scanner and recording image equipment these three equipment are measured, are used for
Different information is recorded respectively.In the prior art, by calculate these three equipment respectively with notebook system time difference, then
Time difference is subtracted in respective data, to realize time synchronization.However, the time synchronization of the method acquisition data is inadequate
Accurately.Therefore, when being acquired to streetscape, high-precision when making inertial measuring unit, laser scanner, recording image devices collect data
Time synchronization is at urgent problem to be solved.
Summary of the invention
In view of this, the present invention provides a kind of streetscape acquisition method of data synchronization, apparatus and system.It can effectively improve
Synchronization accuracy when streetscape acquisition system acquires data between equipment.
The embodiment of the present invention provides a kind of streetscape acquisition method of data synchronization, the described method comprises the following steps:
Electric terminal sends signal output order according to predeterminated frequency to synchronization module；
After the synchronization module receives the signal output order, while exporting shutter control signal and sync break letter
Number, the output shutter control signal and the sync break signal are respectively supplied to recording image equipment and inertia measurement dress
It sets；
When the shutter control signal starts, the recording image equipment triggering shutter is taken pictures；
When the sync break signal starts, the inertial measuring unit is interrupted to measure and obtain and be recorded when interruption
Measurement data, wherein the shutter control signal is synchronous at the beginning of the sync break signal.
The embodiment of the present invention provides a kind of streetscape acquisition data synchronization unit, and described device includes:
Transmission unit, for sending signal output order to synchronization module according to predeterminated frequency, to trigger the synchronization
Module exports shutter control signal and sync break signal simultaneously, same to control inertial measuring unit and recording image equipment respectively
Step acquisition data.
The embodiment of the present invention also provides a kind of streetscape acquisition data synchronous system, comprising:
Electric terminal, synchronization module, recording image equipment and inertial measuring unit；
The electric terminal, for sending signal output order to the synchronization module according to predeterminated frequency；
The synchronization module, after receiving the signal output order, while export shutter control signal with it is synchronous
Interrupt signal, the output shutter control signal and the sync break signal are respectively supplied to recording image equipment and inertia is surveyed
Measure device；
The recording image equipment, for when the shutter control signal starts, triggering shutter to be taken pictures；
The inertial measuring unit, for interrupting and measuring and obtain interruption when institute when the sync break signal starts
The measurement data of record, wherein the shutter control signal is synchronous at the beginning of the sync break signal.
According to above-described embodiment, the shutter control signal and sync break signal provided by above-mentioned synchronization module is real
Existing synchronously control inertial measuring unit and recording image devices collect data, to effectively improve streetscape acquisition system acquisition number
According to when equipment between synchronization accuracy.
For above and other objects, features and advantages of the invention can be clearer and more comprehensible, preferred embodiment is cited below particularly,
And cooperate institute's accompanying drawings, it is described in detail below.
Detailed description of the invention
Fig. 1 is that a kind of streetscape acquires data synchronization applications environment schematic.
Fig. 2 is that a kind of streetscape that first embodiment provides acquires method of data synchronization flow chart.
Fig. 3 is that a kind of streetscape that second embodiment provides acquires method of data synchronization flow chart.
Fig. 4 is control flow schematic diagram in an example of second embodiment.
Fig. 5 is that a kind of streetscape that 3rd embodiment provides acquires data synchronization unit structural block diagram.
Fig. 6 is that a kind of streetscape that fourth embodiment provides acquires data synchronous system structural block diagram.
Fig. 7 is that a kind of streetscape that the 5th embodiment provides acquires data synchronous system structural block diagram.
Specific embodiment
Further to illustrate that the present invention is the technical means and efficacy realizing predetermined goal of the invention and being taken, below in conjunction with
Attached drawing and preferred embodiment, to specific embodiment, structure, feature and its effect according to the present invention, detailed description is as follows.
Fig. 1 provides a kind of streetscape acquisition data synchronization applications environment schematic, including electric terminal 100, synchronization module
200, recording image equipment 300, inertial measuring unit 400 and laser scanner 500.
Electric terminal 100 includes one or more processors, memory, storage control, Peripheral Interface, RF (Radio
Frequency, radio frequency) module, network module, sensor, photographing module, input module and display module.The common skill in this field
The module that art personnel are appreciated that above-mentioned electric terminal 100 includes is only one embodiment, not to electric terminal 100
Structure cause to limit.For example, electric terminal 100 may also include more than above-mentioned module perhaps less component or have
The configuration different from above-mentioned configuration.The specific example of above-mentioned electric terminal 100 includes but is not limited to handheld computer, moves
The various combinations of mobile phone, media player, mobile unit, personal digital assistant and aforementioned device.
Synchronization module 200 is set for exporting corresponding control signal with controlling inertial measuring unit 400 with recording image
Standby 300 synchronous acquisitions.
Electric terminal 100 is used to send output signal instruction to synchronization module 200, to control the output of synchronization module 200
Control the frequency of signal.Synchronization module 200 is after the instruction for receiving the transmission of electric terminal 100, and just output controls signal.
Recording image equipment 300 is a kind of optical imaging concept to be utilized to form image and setting using negative writing image
It is standby.In detail, recording image equipment 300 has three Large Structure Systems of imaging, exposure and auxiliary.Imaging system includes imaging lens
Head, rangefinder-type focus, finder system, supplementary lens, optical filtering, effect mirror etc.；Exposure system include tripper, aperture device,
Photometric system, flash system, self timer etc.；Auxiliary system includes winding mechanism, counting mechanism, rewinding device etc..
The imaging lens are the optical systems to be imaged, and are made of a series of optical mirror slips and lens barrel, Mei Gejing
Head has two characteristics of focal length and relative aperture；View finder is the device for choosing scenery and composition, passes through view finder
The scenery seen, it is all to fall in the part in menu frame, it can shoot on film；Range finder can measure scenery away from
From, it often combines with view finder, ranging and lens focusing can be connected by interlinked mechanism, it is complete while ranging
At focusing.
Optical perspective or single-lens reflex range finder of finding a view must all be manually operated, and with the naked eye judge.In addition there are light
Electrical measurement away from, the methods of sonar ranging, infrared distance measuring, manual operation can be exempted, and be avoided that naked eyes judge bring error, with
Realize automatic range.
The tripper is the main component for controlling light exposure, and the most common shutter has front shutter and focal plane shutter
Two classes.Front shutter is made of one group of very thin metal blade, and under the action of main spring, the movement of connecting rod and dialing ring makes leaf
Piece is rapidly cycled on and off；Focal plane shutter is made of two groups of partly overlapping heavy curtains (preceding curtain and rear curtain), mounted in burnt flat
Face front adjacent.Two heavy curtains sequentially start, to form a gap.Gap is inswept in front of film, is exposed with realizing
Light.
The aperture is also referred to as diaphragm, is the mechanism for limiting light beam and passing through, mounted in camera lens centre or rear.Aperture can change
Optical path bore, and light exposure is controlled together with shutter.Common aperture has continuous variable formula and two kinds of non-continuously variable formula.
300 main element of recording image equipment includes: image-forming component, darkroom, image forming medium and imaging control structure.It is described
Image-forming component can be imaged.The usually lens group made of optical glass, referred to as camera lens.Aperture, electromagnetic coil etc.
All play the role of in specific equipment " camera lens ".The image forming medium then charge capture and recording image, including egative film,
CCD, CMOS etc..The darkroom provided between the camera lens and the image forming medium one connect and protect image forming medium not by
Interference.The imaging control structure can change the mode of imaging or recording image with the final imaging effect of image, aperture, fast
Door, focus control etc..
Inertial measuring unit 400 contains three uniaxial accelerometers and three uniaxial gyros, the accelerometer
Detection object founds the acceleration signal of three axis in carrier coordinate system unification and independence, and the gyro detection carrier is relative to navigational coordinate system
Angular velocity signal measures the angular speed and acceleration of object in three dimensions, and the posture of object is calculated with this.Further
Ground can also be equipped with more sensors for each axis.In some instances, inertial measuring unit 400 is mounted on testee
Center of gravity on.
Inertial measuring unit 400 is used in the equipment for needing to carry out motion control mostly, on automobile and robot.Also by with
In the occasion for needing to be carried out accurate displacement reckoning with posture, such as submarine, aircraft, guided missile and spacecraft inertial navigation set.
Specifically, inertial measuring unit 400 belongs to Strapdown Inertial Units measuring device, including two acceleration transducers and three
A velocity sensor (gyro) composition, accelerometer are used to experience component of acceleration of the object under test relative to ground vertical line, speed
Sensor is used to experience the angle information of aircraft, and mainly there are two the E/ of A/D converter AD7716BS and 64K for the subassembly
Eprom memory X25650 is constituted, analog variable of the A/D converter using the sensor of inertial measuring unit 400, conversion
For aircraft pitch angle, tilt angle and side-slip angle, E/EPROM storage are finally exported after digital information after CPU is calculated
Device mainly stores the linear diagram of the sensor of inertial measuring unit 400 and the piece number and serial number of each sensor of IMU,
In rigid booting, the linearity curve parameter that image processing unit is read in E/EPROM provides initial information for subsequent angle calculation.
Laser scanner 500 is a kind of instrument of the work such as the size and shape that workpiece is measured by scanning technique, is swashed
Photoscanner 500 uses a stability and the good rotation motor of precision, when light beam is mapped to the polygonal prism driven by motor
Rule reflect and form scanning light beam.Since polygonal prism rule are located on the front focal plane of scanning lens, and Rotating with Uniform makes laser beam pair
For reflecting mirror, incidence angle relatively sequential change, thus angle of reflection also makees sequential change, via the work of scanning lens
With forming a parallel and continuous scan line from top to bottom.
Since scanning method is therefore the also known as Time Method using the time as calculating benchmark.Laser scanner 500 is installed on production and exists
Line forms the instrument that side production frontier inspection is tested.Laser scanner 500 includes laser light source and scanner, by OPTICAL SENSORS, control list
The parts such as member.The laser light source be it is closed, light beam easy to form generallys use the visible light lasers of low-power, such as He-Ne
Laser, semiconductor laser etc., the scanner is advised for rotating multisurface rib or Double sided mirror, after light beam injects the scanner, then
Quick rotation makes laser light be reflected into a scanning light beam.In the light beam scanning whole process, if there is workpiece to obstruct the light, therefore
Diameter can be predicted.Before measurement, it is necessary to first be corrected with the gauge of two known dimensions, if then all measure size Jie
Between this two gauge, size to be measured can be obtained after electronic signal process.Therefore, also known as laser gauge.
Laser scanner 500, and usually it is appreciated that laser copy several machines.Laser scanner 500 is application scanning skill
Art carrys out work principles such as the size and shapes that measures object under test.It is mainly used in reverse-engineering, responsible curved surface copies number, workpiece
Three-dimensional measurement can quickly measure the profile collective data of object for existing three dimensional practicality (sample or model), and be built
Structure, editor, modification generate the New Model for Digitized Parametric Surfaces of general output format.
Further, laser scanner 500 can be three-dimensional laser scanner, or be outdoor scene reproduction technology, and described three
Dimension laser scanner technique is capable of providing the three dimensional point cloud of scanning body surface, therefore can be used for obtaining high-accuracy high-resolution
Digital terrain model.
The present invention is further described through combined with specific embodiments below.
First embodiment
The present embodiment provides a kind of streetscapes to acquire method of data synchronization, as shown in Fig. 2, the method for the present embodiment includes following
Step:
Step S101, electric terminal sends signal output order according to predeterminated frequency to synchronization module.
In detail, the functional module of control 200 output signal of synchronization module is prestored in electric terminal 100.For example, can be with
It is the application program with the matched control synchronization module 200 of synchronization module 200.Specifically, electric terminal 100 is according to predeterminated frequency
Signal output order is sent to synchronization module, to control the frequency of the step output control signal of module 200.The predeterminated frequency can be with
It is preset according to current streetscape environment.For example, predeterminated frequency described in the biggish streetscape of information content is set as upper frequency, it is on the contrary
Then it is arranged compared with small frequency.Specifically, periodic intervals electric terminal 100 is corresponded in predeterminated frequency to send to synchronization module 200
Signal output order.
Step S102, after the described synchronization module receives the signal output order, at the same export shutter control signal and
Sync break signal, the output shutter control signal and the sync break signal are respectively supplied to recording image equipment and are used to
Property measuring device.
Wherein, synchronization module 200 exports shutter control signal and sync break signal is discontinuity, works as synchronization module
200 just export shutter control signal and sync break signal to note when receiving the signal output order of the transmission of electric terminal 100
Image documentation equipment 300 and inertial measuring unit 400 are recorded, and is completed once in recording image equipment 300 and inertial measuring unit 400
After data acquisition, shutter control signal and sync break signal terminate.Synchronization module 200 receives signal output order next time
Afterwards, synchronization module 200 exports the shutter control signal and the sync break signal simultaneously again.
Step S103, when the shutter control signal starts, the recording image equipment triggering shutter is taken pictures, Yi Ji
When the sync break signal starts, the inertial measuring unit, which interrupts, measures and obtains the measurement data recorded when interruption,
Wherein, the shutter control signal is synchronous at the beginning of the sync break signal.
Further, in the present embodiment, shutter control signal and sync break signal are pulse signal, the shutter
Control signal starts as the rising edge of the shutter control signal, and the sync break signal starts as the sync break
The rising edge of signal.Correspondingly, if starting as the rising edge of the shutter control signal for the shutter control signal, described
The end of shutter control signal is the failing edge of the shutter signal；If the sync break signal starts as in described synchronize
The rising edge of break signal, then the end of the sync break signal is the failing edge of the sync break signal.Further, together
Walk two signals that module 200 exports simultaneously: the rising edge of the control shutter signal and the sync break signal is high-precision
Degree synchronization, it is generally the case that the time error of the control shutter signal and the sync break signal rising edge is less than
1us。
In other embodiments, the upper failing edge that may begin at the shutter control signal of the shutter control signal,
Starting for the sync break signal can also be the failing edge of the sync break signal, at this point, the shutter control signal
Terminate the upper failing edge then for the shutter control signal, the end of the sync break signal is then the sync break signal
Failing edge.
Further, 400 test constantly data of inertial measuring unit, when inertial measuring unit 400 receives sync break
When signal, measurement is interrupted when sync break signal starts, and is recorded and interrupted data measured by the moment.Inertial measuring unit
The measurement data of 400 records includes real time position, ephemeris time and posture information.The ephemeris time refers to motion of celestial body at any time
Between and become exact position or track table, be the function of time.
The shutter control signal and the sync break signal are surveyed in the recording image equipment and the inertia respectively
Amount device terminates after completing a data record.
Further, synchronization module 200 once exports after the shutter control signal and sync break signal by described fast
Gate control signal controls a recording image equipment 300 progress data synchronous with inertial measuring unit 400 with sync break signal
Acquisition, the shutter control signal and the sync break signal terminate after the completion of data acquisition.
Further, the method for the present embodiment is used for streetscape acquisition system.Specifically, the streetscape number obtained by the method
It can be used for streetscape display function in electronic map according to by processing.Specifically, when the street for the designated position for receiving user's input
Scape figure is checked, then can be displayed in the corresponding data that corresponding street collects.
According to the method for the present embodiment, signal is controlled by above-mentioned synchronization module 200, reaches synchronously control inertia measurement
Device 400 and recording image equipment 300 acquire data, thus when effectively realizing streetscape acquisition system acquisition data between equipment
Acquisition data high-precise synchronization.
Second embodiment
The present embodiment provides a kind of streetscapes to acquire method of data synchronization, the present embodiment and first embodiment, similar, different
Place is, as shown in figure 3, the method for the present embodiment further include:
Step S201, electric terminal sends signal output order according to predeterminated frequency to synchronization module.
In detail, the functional module of control 200 output signal of synchronization module is prestored in electric terminal 100.For example, can be with
It is the application program with the matched control synchronization module 200 of synchronization module 200.Specifically, electric terminal 100 is according to predeterminated frequency
Signal output order is sent to synchronization module to control the frequency of the output control signal of synchronization module 200.The predeterminated frequency can
To be preset according to current streetscape environment.For example, predeterminated frequency described in the biggish streetscape of information content is set as upper frequency, instead
Then be arranged compared with small frequency.Specifically, periodic intervals electric terminal 100 is corresponded in predeterminated frequency to send out to synchronization module 200
Send a signal output order.
Step S202, after the described synchronization module receives the signal output order, at the same export shutter control signal and
Sync break signal, the output shutter control signal and the sync break signal are respectively supplied to recording image equipment and are used to
Property measuring device.
Wherein, synchronization module 200 exports shutter control signal and sync break signal is discontinuity, works as synchronization module
200 just export shutter control signal and sync break signal to note when receiving the signal output order of the transmission of electric terminal 100
Image documentation equipment 300 and inertial measuring unit 400 are recorded, and is completed once in recording image equipment 300 and inertial measuring unit 400
After data acquisition, shutter control signal and sync break signal terminate.Synchronization module 200 receives signal output order next time
Afterwards, synchronization module 200 exports the shutter control signal and the sync break signal simultaneously again.
Step S203, when the shutter control signal starts, the recording image equipment triggering shutter is taken pictures, Yi Ji
When the sync break signal starts, the inertial measuring unit, which interrupts, measures and obtains the measurement data recorded when interruption,
Wherein, the shutter control signal is synchronous at the beginning of the sync break signal.
Further, in the present embodiment, shutter control signal and sync break signal are pulse signal, the shutter
Control signal starts as the rising edge of the shutter control signal, and the sync break signal starts as the sync break
The rising edge of signal.
400 test constantly data of inertial measuring unit, when inertial measuring unit 400 is because of sync break signal interruption, note
The measurement data at moment is interrupted in record.
Step S204, the described inertial measuring unit is connected with laser scanner by 1PPS+TOD interface, the 1PPS+
Inertial measuring unit described in TOD Interface Controller and the laser scanner synchronous acquisition.
In detail, inertial measuring unit 400 is connected with laser scanner 500 by 1PPS+TOD interface.Wherein 1PPS
(pulses per second), as pulses per second.The synchronous ephemeris time value of TOD protocol datagram transmitting, cooperates 1PPS
(pulse per second (PPS)) can be aligned with UTC (Coordinated Universal Time, Coordinated Universal Time(UTC)).1PPS pulse triggering per second
Pulsatile once signal controls inertial measuring unit 400 and 500 synchronous acquisition of laser scanner.It is appreciated that 1pps
Pulse per second (PPS) precision is 0.5us.
Further, the shutter control signal and the sync break signal are respectively in the recording image equipment 300
Terminate after completing a data record with the inertial measuring unit 400.
Fig. 4 show synchronization module 200 in an example and controls output signal schematic diagram.Specifically, by synchronization module 200
It is simultaneously emitted by shutter control signal and sync break signal.It is appreciated that the control signal exported simultaneously is can be high-precision
The signal of the synchronous variation of degree.Therefore, the rising edge of synchronization module 200 exports simultaneously shutter control signal and sync break signal
It is high-precise synchronization.As shown in figure 4, the rising edge of shutter control signal, at point a, the rising edge of sync break signal is in point b
Place.The time difference illustrated between midpoint a and point b is less than 1us.In detail, in the rising edge of shutter control signal, trigger recording
Image documentation equipment 300 triggers shutter and takes pictures.In the rising edge of sync break signal, 400 interrupt test of inertia test device is triggered,
Position, ephemeris time and the posture information of the record of inertia test device 400 this moment at this time.Further, inertia test device 400
It with laser scanner 500 is connected by 1PPS+TOD interface, 1PPS pulse triggering pulsatile once signal per second, so that control is used
500 synchronous acquisition of system safety testing device 400 and laser scanner, the synchronous ephemeris time value of TOD protocol datagram transmitting.In detail
Carefully, it is appreciated that 1pps pulse per second (PPS) precision is 0.5us.Therefore, the method for the present embodiment is for streetscape acquisition system
Error is less than 1us.
Other details about the present embodiment can also refer to first embodiment, and details are not described herein.
According to the method for the present embodiment, signal is controlled by above-mentioned synchronization module 200, reaches synchronously control inertia measurement
Device 400 and recording image equipment 300 acquire data, thus when effectively improving streetscape acquisition system acquisition data between equipment
Synchronization accuracy, further, recording image equipment 300 is synchronous with inertial measuring unit, and inertial measuring unit is swept with laser again
It is synchronous to retouch instrument 500, to realize the acquisition between recording image equipment 300, inertial measuring unit 400 and laser scanner 500
The synchronization of data.
3rd embodiment
The present embodiment provides a kind of streetscapes to acquire data synchronization unit, as shown in figure 5, the device in the present embodiment includes:
Transmission unit 301 and set of frequency unit 302；
Transmission unit 301, for sending signal output order to synchronization module 200 according to predeterminated frequency, so that triggering is same
Step module 200 exports shutter control signal and sync break signal simultaneously, to control inertial measuring unit 400 and record shadow respectively
As 300 synchronous acquisition of equipment.
Set of frequency unit 302, for carrying out predeterminated frequency according to current streetscape environment, wherein for what is contained much information
Streetscape, the predeterminated frequency is big, and for the small streetscape of information content, the predeterminated frequency is small.Device about the present embodiment its
Its details can further refer to first embodiment, and details are not described herein.
According to the device of the present embodiment, the frequency that synchronization module 200 sends control signal is controlled, to acquire using streetscape
System can orderly carry out streetscape acquisition, and the rising of the shutter control signal and sync break signal of the output of synchronization module 200
Along stringent synchronization, therefore it is also synchronous for triggering inertial measuring unit 400 with the corresponding operating of recording image equipment 300, thus
The data high-precise synchronization of acquisition when effectively realizing streetscape acquisition system acquisition data between equipment
Fourth embodiment
The present embodiment provides a kind of streetscapes to acquire data synchronous system, as shown in fig. 6, the system of the present embodiment includes: electricity
Sub- terminal 100, synchronization module 200, recording image equipment 300 and inertial measuring unit 400.
Electric terminal 100, for sending signal output order to synchronization module 200 according to predeterminated frequency.
Synchronization module 200, after receiving the signal output order, while export shutter control signal with it is synchronous in
Break signal, the output shutter control signal and the sync break signal are respectively supplied to recording image equipment 300 and inertia
Measuring device 400.
In detail, in the present embodiment, the shutter control signal starts as the rising edge of the shutter control signal,
The sync break signal starts as the rising edge of the sync break signal.
Recording image equipment 300, for when the shutter control signal starts, triggering shutter to be taken pictures.
Inertial measuring unit 400 interrupts Shi Suoji for when the sync break signal starts, interrupting to measure and obtain
The measurement data of record, wherein the shutter control signal is synchronous at the beginning of the sync break signal.
Inertial measuring unit 400 is also used to continue record data, the interruption when the sync break signal starts, and in institute
Continue to record data at the end of stating sync break signal.
Synchronization module 200, the shutter control signal and sync break signal for being also used to control output are respectively described
Recording image equipment and the inertial measuring unit terminate after completing a data record.
Other details of system about the present embodiment can be with further reference to first embodiment, and details are not described herein.
According to the system of the present embodiment, the control signal exported by above-mentioned synchronization module 200 realizes that synchronously control is used
Property measuring device 400 and recording image equipment 300 acquire data, thus effectively realize streetscape acquisition system acquisition data when set
The data high-precise synchronization of acquisition between standby.
5th embodiment
The present embodiment provides a kind of streetscapes to acquire data synchronous system, and the present embodiment is similar with fourth embodiment.It is different
Place is, as shown in fig. 7, the system of the present embodiment includes: electric terminal 100, synchronization module 200, recording image equipment
300, inertial measuring unit 400 and laser scanner 500.
Laser scanner 500 is connected with inertial measuring unit 400 by 1PPS+TOD interface, the 1PPS+TOD interface control
Inertial measuring unit 400 processed and 500 synchronous acquisition of laser scanner.
Other details of system about the present embodiment can be with further reference to second embodiment, and details are not described herein.
According to the system of the present embodiment, the control signal exported by above-mentioned synchronization module 200 realizes that synchronously control is used
Property measuring device 400 and recording image equipment 300 acquire data, to realize recording image equipment 300 and inertial measuring unit
The synchronization of 400 acquisition data, further, inertial measuring unit 400 is synchronous with laser scanner 500 again, thus effectively real
The data high-precise synchronization of acquisition when existing streetscape acquisition system acquisition data between equipment.
In addition, the embodiment of the present invention also provides a kind of computer readable storage medium, it is executable to be stored with computer
Instruction, above-mentioned computer readable storage medium is, for example, nonvolatile memory such as CD, hard disk or flash memory.It is above-mentioned
Computer executable instructions be used to that computer or similar arithmetic unit to be allowed to complete the above-mentioned streetscape acquisition data side of synchronization
Various operations in method method.
It should be noted that each embodiment in this specification is described in a progressive manner, each embodiment emphasis
What is illustrated is the difference from other embodiments, and the same or similar parts between the embodiments can be referred to each other.It is right
For device class embodiment, since it is basically similar to the method embodiment, so be described relatively simple, related place referring to
The part of embodiment of the method illustrates.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that process, method, article or device including a series of elements are not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or device
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or device including element.
It is somebody's turn to do above, is only presently preferred embodiments of the present invention, is not intended to limit the present invention in any form, although
The present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any person skilled in the art,
Without departing from the scope of the present invention, when the technology contents using the disclosure above are modified or are modified to
With the equivalent embodiment of variation, but without departing from the technical solutions of the present invention, according to the technical essence of the invention to above
Any simple modification, equivalent change and modification made by embodiment, all of which are still within the scope of the technical scheme of the invention.
Claims (8)
1. a kind of streetscape acquires method of data synchronization, which is characterized in that the described method comprises the following steps:
Electric terminal sends signal output order according to predeterminated frequency to synchronization module；It is described same that the electric terminal prestores control
The functional module of module output signal is walked, the functional module is and the matched control synchronization module of the synchronization module
Application program；
After the synchronization module receives the signal output order, while shutter control signal and sync break signal are exported,
The output shutter control signal and the sync break signal are respectively supplied to recording image equipment and inertial measuring unit；
When the shutter control signal starts, the recording image equipment triggering shutter is taken pictures；
When the sync break signal starts, the inertial measuring unit, which interrupts, to be measured and obtains the measurement recorded when interruption
Data, the inertial measuring unit persistently record data, the interruption when the sync break signal starts, and in described synchronize
Continue to record measurement data at the end of break signal；The measurement data that the inertial measuring unit is recorded includes real time position, star
Between lasting and posture information；Wherein, the shutter control signal is synchronous at the beginning of the sync break signal；
The inertial measuring unit is connected with laser scanner, the inertial measuring unit and the laser scanner synchronize adopt
Collect data；Wherein, the laser scanner obtains the wheel of testee by scanning the three dimensional point cloud on testee surface
Wide collective data, and processing is carried out to the profile collective data and generates outdoor scene model；
When the streetscape figure for receiving the designated position that user inputs in electronic map checks request, the electric terminal is shown
The recording image equipment, the corresponding street of the inertial measuring unit and the collected designated position of the laser scanner
Scape data.
2. streetscape as described in claim 1 acquires method of data synchronization, which is characterized in that the beginning of the shutter control signal
For the rising edge of the shutter control signal, the sync break signal starts as the rising edge of the sync break signal.
3. streetscape as described in claim 1 acquires method of data synchronization, which is characterized in that the shutter control signal and described
Sync break signal terminates after the recording image equipment and the inertial measuring unit complete a data record respectively.
4. a kind of streetscape acquires data synchronization unit, it is applied to electric terminal, which is characterized in that described device includes:
Transmission unit, for sending signal output order to synchronization module according to predeterminated frequency, to trigger the synchronization module
Export shutter control signal and sync break signal simultaneously, with control respectively inertial measuring unit and recording image equipment synchronize adopt
Collect data, the electric terminal prestores the functional module for controlling the synchronization module output signal, and the functional module is and institute
The application program of the matched control synchronization module of synchronization module is stated, the inertial measuring unit persistently records data, in institute
Interruption when sync break signal starts is stated, and continues to record measurement data at the end of the sync break signal；The inertia
The measurement data that measuring device is recorded includes real time position, ephemeris time and posture information；The inertial measuring unit and swash
Photoscanner is connected, the inertial measuring unit and the laser scanner synchronous acquisition；Wherein, the laser scanning
Instrument obtains the profile collective data of testee by scanning the three dimensional point cloud on testee surface, and to the profile collection
It closes data and carries out processing generation outdoor scene model；
Wherein, the electric terminal is used to check when the streetscape figure for receiving the designated position that user inputs in electronic map and ask
When asking, the recording image equipment, the inertial measuring unit and the collected specific bit of the laser scanner are shown
Set corresponding streetscape data.
5. streetscape as claimed in claim 4 acquires data synchronization unit, which is characterized in that described device further includes that frequency is set
Unit is set, for carrying out predeterminated frequency according to current streetscape environment, wherein for the streetscape to contain much information, the predeterminated frequency
Greatly, the streetscape small for information content, the predeterminated frequency are small.
6. a kind of streetscape acquires data synchronous system characterized by comprising electric terminal, synchronization module, recording image are set
Standby, inertial measuring unit and laser scanner；
The electric terminal, for sending signal output order to the synchronization module according to predeterminated frequency；The electric terminal
The functional module for controlling the synchronization module output signal is prestored, the functional module is and the matched control of the synchronization module
The application program of the synchronization module；
The synchronization module after receiving the signal output order, while exporting shutter control signal and sync break
Signal, the output shutter control signal and the sync break signal are respectively supplied to recording image equipment and inertia measurement dress
It sets；
The recording image equipment, for when the shutter control signal starts, triggering shutter to be taken pictures；
The inertial measuring unit is measured for interrupting when the sync break signal starts and is recorded when obtaining interruption
Measurement data, the inertial measuring unit persistently records data, the interruption when the sync break signal starts, and described
Continue to record measurement data at the end of sync break signal；The measurement data that the inertial measuring unit is recorded includes real-time position
It sets, ephemeris time and posture information；Wherein, the shutter control signal is synchronous at the beginning of the sync break signal；
The laser scanner is connected with the inertial measuring unit, is used for and the inertial measuring unit synchronous acquisition number
According to；Wherein, the laser scanner obtains the profile collection of testee by scanning the three dimensional point cloud on testee surface
Data are closed, and processing is carried out to the profile collective data and generates outdoor scene model；
The electric terminal is also used to check request when the streetscape figure for receiving the designated position that user inputs in electronic map
When, show the recording image equipment, the inertial measuring unit and the collected designated position of the laser scanner
Corresponding streetscape data.
7. streetscape as claimed in claim 6 acquires data synchronous system, which is characterized in that the beginning of the shutter control signal
For the rising edge of the shutter control signal, the sync break signal starts as the rising edge of the sync break signal.
8. streetscape as claimed in claim 6 acquires data synchronous system, which is characterized in that the synchronization module is also used to control
The shutter control signal and sync break signal for making output are filled in the recording image equipment and the inertia measurement respectively
Setting terminates after completing a data record.
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| CN107172320A (en) * | 2017-06-21 | 2017-09-15 | 成都理想境界科技有限公司 | Method of data synchronization and picture pick-up device |
| CN110139066B (en) * | 2019-03-24 | 2021-02-02 | 初速度（苏州）科技有限公司 | Sensor data transmission system, method and device |
| CN110636603A (en) * | 2019-10-22 | 2019-12-31 | 深圳市道通智能航空技术有限公司 | Aircraft time synchronization system and method |
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