CN107797129A - 无gnss信号下的点云数据采集方法及装置 - Google Patents
无gnss信号下的点云数据采集方法及装置 Download PDFInfo
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- CN107797129A CN107797129A CN201710954082.7A CN201710954082A CN107797129A CN 107797129 A CN107797129 A CN 107797129A CN 201710954082 A CN201710954082 A CN 201710954082A CN 107797129 A CN107797129 A CN 107797129A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
-
- 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
- G01C21/1652—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 with ranging devices, e.g. LIDAR or RADAR
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- 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
-
- 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
-
- 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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4808—Evaluating distance, position or velocity data
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
Claims (10)
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710954082.7A CN107797129B (zh) | 2017-10-13 | 2017-10-13 | 无gnss信号下的点云数据采集方法及装置 |
US16/300,963 US11385359B2 (en) | 2017-10-13 | 2017-12-25 | Point cloud data acquisition method and device under situation of no GNSS signal |
PCT/CN2017/118367 WO2019071840A1 (zh) | 2017-10-13 | 2017-12-25 | 无gnss信号下的点云数据采集方法及装置 |
EP17908768.9A EP3696577A4 (en) | 2017-10-13 | 2017-12-25 | METHOD AND DEVICE FOR ACQUIRING POINT CLOUD DATA IN THE ABSENCE OF GNSS SIGNAL |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710954082.7A CN107797129B (zh) | 2017-10-13 | 2017-10-13 | 无gnss信号下的点云数据采集方法及装置 |
Publications (2)
Publication Number | Publication Date |
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CN107797129A true CN107797129A (zh) | 2018-03-13 |
CN107797129B CN107797129B (zh) | 2020-06-05 |
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CN201710954082.7A Active CN107797129B (zh) | 2017-10-13 | 2017-10-13 | 无gnss信号下的点云数据采集方法及装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US11385359B2 (zh) |
EP (1) | EP3696577A4 (zh) |
CN (1) | CN107797129B (zh) |
WO (1) | WO2019071840A1 (zh) |
Cited By (8)
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CN109975848A (zh) * | 2019-04-19 | 2019-07-05 | 重庆市勘测院 | 基于rtk技术的移动测量***精度优化方法 |
CN109993700A (zh) * | 2019-04-03 | 2019-07-09 | 百度在线网络技术(北京)有限公司 | 数据处理方法、装置、电子设备及计算机可读存储介质 |
CN110501712A (zh) * | 2019-09-05 | 2019-11-26 | 北京百度网讯科技有限公司 | 用于确定位置姿态数据的方法、装置、设备和介质 |
CN111007554A (zh) * | 2019-12-11 | 2020-04-14 | 武汉海达数云技术有限公司 | 数据采集时间同步***和方法 |
CN111220992A (zh) * | 2018-11-26 | 2020-06-02 | 长沙智能驾驶研究院有限公司 | 雷达数据融合方法、装置及*** |
WO2021218620A1 (zh) * | 2020-04-30 | 2021-11-04 | 上海商汤临港智能科技有限公司 | 地图构建方法、装置、设备及存储介质 |
CN113959436A (zh) * | 2021-10-14 | 2022-01-21 | 重庆数字城市科技有限公司 | 一种激光点云数据实时处理***和方法 |
CN114754769A (zh) * | 2022-06-15 | 2022-07-15 | 天津大学四川创新研究院 | 激光雷达与惯性传感器的数据同步授时***和方法 |
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CN112235041A (zh) * | 2020-12-18 | 2021-01-15 | 成都纵横大鹏无人机科技有限公司 | 实时点云的处理***、方法及机载数据采集装置、方法 |
CN113280798B (zh) * | 2021-07-20 | 2021-10-01 | 四川省公路规划勘察设计研究院有限公司 | 隧道gnss拒止环境下车载扫描点云的几何纠正方法 |
CN113721255B (zh) * | 2021-08-17 | 2023-09-26 | 北京航空航天大学 | 基于激光雷达与视觉融合的列车站台停车点精准检测方法 |
CN114362867B (zh) * | 2021-12-14 | 2023-08-01 | 山东科技大学 | 一种用于深拖***的时间同步和数据存储工作方法 |
CN114710228B (zh) * | 2022-05-31 | 2022-09-09 | 杭州闪马智擎科技有限公司 | 一种时间的同步方法、装置、存储介质及电子装置 |
CN115308724B (zh) * | 2022-08-09 | 2023-07-07 | 四川大学 | 一种立木树高测量方法 |
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CN117570972B (zh) * | 2023-11-20 | 2024-06-28 | 重庆市测绘科学技术研究院 | 基于多条件约束的车载移动测量点云精度提升方法及装置 |
CN117668574B (zh) * | 2024-01-31 | 2024-05-14 | 利亚德智慧科技集团有限公司 | 光影秀的数据模型优化方法、装置、设备及存储介质 |
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CN105628026A (zh) * | 2016-03-04 | 2016-06-01 | 深圳大学 | 一种移动物体的定位定姿方法和*** |
CN105808672A (zh) * | 2016-03-01 | 2016-07-27 | 重庆市勘测院 | 基于浏览器的海量三维点云数据的发布方法 |
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CN105203023B (zh) | 2015-07-10 | 2017-12-05 | 中国人民解放军信息工程大学 | 一种车载三维激光扫描***安置参数的一站式标定方法 |
US10983201B2 (en) * | 2018-10-29 | 2021-04-20 | Dji Technology, Inc. | User interface for displaying point clouds generated by a lidar device on a UAV |
US11514682B2 (en) * | 2019-06-24 | 2022-11-29 | Nvidia Corporation | Determining weights of points of a point cloud based on geometric features |
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2017
- 2017-10-13 CN CN201710954082.7A patent/CN107797129B/zh active Active
- 2017-12-25 WO PCT/CN2017/118367 patent/WO2019071840A1/zh active Application Filing
- 2017-12-25 EP EP17908768.9A patent/EP3696577A4/en active Pending
- 2017-12-25 US US16/300,963 patent/US11385359B2/en active Active
Patent Citations (4)
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CN102338616A (zh) * | 2010-07-22 | 2012-02-01 | 首都师范大学 | 三维测量***及方法 |
US20140247183A1 (en) * | 2013-03-03 | 2014-09-04 | The Boeing Company | Satellite-based integer cycle ambiguity resolution of local medium wave radio signals |
CN105808672A (zh) * | 2016-03-01 | 2016-07-27 | 重庆市勘测院 | 基于浏览器的海量三维点云数据的发布方法 |
CN105628026A (zh) * | 2016-03-04 | 2016-06-01 | 深圳大学 | 一种移动物体的定位定姿方法和*** |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111220992A (zh) * | 2018-11-26 | 2020-06-02 | 长沙智能驾驶研究院有限公司 | 雷达数据融合方法、装置及*** |
CN109993700A (zh) * | 2019-04-03 | 2019-07-09 | 百度在线网络技术(北京)有限公司 | 数据处理方法、装置、电子设备及计算机可读存储介质 |
CN109975848A (zh) * | 2019-04-19 | 2019-07-05 | 重庆市勘测院 | 基于rtk技术的移动测量***精度优化方法 |
CN109975848B (zh) * | 2019-04-19 | 2023-03-31 | 重庆市勘测院 | 基于rtk技术的移动测量***精度优化方法 |
CN110501712A (zh) * | 2019-09-05 | 2019-11-26 | 北京百度网讯科技有限公司 | 用于确定位置姿态数据的方法、装置、设备和介质 |
CN111007554A (zh) * | 2019-12-11 | 2020-04-14 | 武汉海达数云技术有限公司 | 数据采集时间同步***和方法 |
WO2021218620A1 (zh) * | 2020-04-30 | 2021-11-04 | 上海商汤临港智能科技有限公司 | 地图构建方法、装置、设备及存储介质 |
CN113959436A (zh) * | 2021-10-14 | 2022-01-21 | 重庆数字城市科技有限公司 | 一种激光点云数据实时处理***和方法 |
CN114754769A (zh) * | 2022-06-15 | 2022-07-15 | 天津大学四川创新研究院 | 激光雷达与惯性传感器的数据同步授时***和方法 |
CN114754769B (zh) * | 2022-06-15 | 2022-11-18 | 天津大学四川创新研究院 | 激光雷达与惯性传感器的数据同步授时***和方法 |
Also Published As
Publication number | Publication date |
---|---|
US11385359B2 (en) | 2022-07-12 |
EP3696577A1 (en) | 2020-08-19 |
CN107797129B (zh) | 2020-06-05 |
WO2019071840A1 (zh) | 2019-04-18 |
EP3696577A4 (en) | 2021-07-14 |
US20210223408A1 (en) | 2021-07-22 |
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Effective date of registration: 20240305 Address after: 401120 No. 6, Qingzhu East Road, Dazhulin, Yubei District, Chongqing Patentee after: Chongqing Institute of Surveying and Mapping Science and Technology (Chongqing Map Compilation Center) Country or region after: China Address before: No. 231 Diance Village, Jiangbei District, Chongqing, 401121 Patentee before: CHONGQING SURVEY INSTITUTE Country or region before: China Patentee before: CHONGQING CYBERCITY SCI-TECH Co.,Ltd. |