CN112114330A - Light airborne laser radar real-time processing and control system - Google Patents
Light airborne laser radar real-time processing and control system Download PDFInfo
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- CN112114330A CN112114330A CN202010929416.7A CN202010929416A CN112114330A CN 112114330 A CN112114330 A CN 112114330A CN 202010929416 A CN202010929416 A CN 202010929416A CN 112114330 A CN112114330 A CN 112114330A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B15/00—Systems controlled by a computer
- G05B15/02—Systems controlled by a computer electric
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2651—Camera, photo
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- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses a light airborne laser radar real-time processing and control system, which comprises a light unmanned aerial vehicle platform, an airborne laser radar system and a ground control system; the light unmanned aerial vehicle platform is used for carrying an airborne laser radar system, the airborne laser radar system comprises a laser scanner, a high-speed computing unit, a high-resolution CCD camera, a large-capacity storage unit and a 5G communication module, and the light unmanned aerial vehicle platform is used for collecting, processing and storing mass point cloud data and CCD image data; the ground control system is used for guaranteeing flight safety, transmitting back a point cloud model constructed by the airborne high-speed computing unit and high-resolution CCD camera image data in real time, and remotely controlling the airborne high-speed computing unit; the invention can process point cloud data in real time, observe a point cloud model, control an airborne laser radar system and skillfully solve the problem that secondary repeated scanning is required due to the point cloud quality problem.
Description
Technical Field
The invention belongs to the technical field of laser radars, and particularly relates to a light airborne laser radar real-time processing and control system.
Background
LIDAR is a short for laser detection and ranging systems. This concept was first proposed by Bachman and Jelalian, which clearly describes the use of lasers: the laser transmitter sends out laser pulse of near-infrared wave band, after ground reflection and scattering, laser receiver records the laser pulse that returns, and the time of this process can be accurate to 0.1ns, just can accurately calculate the distance that will survey according to the light speed again. The LIDAR system is a photogrammetric device that uses the Airborne Laser Scanning (ALS) technique to quickly acquire surface points, automatically generating accurate Digital Terrestrial Models (DTMs) and Digital Surface Models (DSMs). The simple laser scanning system has limited effect, and the LIDAR system integrated with the digital camera can effectively improve the drawing effect, such as manufacturing a high-resolution color digital ortho-image map (DOM) and the like.
Currently, airborne LIDAR point cloud data has been used in large numbers in the following areas: the method comprises the steps of production of a high-precision digital elevation model, production of a real radiographic image, 3D model reconstruction of urban buildings, urban road extraction, road route selection design, road traffic flow statistics, calculation of earth volume, solution of relevant parameters of tree species, tree height, breast height, crown width and the like of trees, erosion monitoring of coastlines, power line patrol and route selection design and the like.
The commercial operation of an onboard LIDAR system in china began in 2004. In 2005, the west asian digital remote sensing company performed the first domestic airborne LIDAR mapping test on the LIDAR system introduced from the german IGI company in the taiyuan east mountain area, and obtained satisfactory test results. Thereafter, Shanxi Asia Tai remote sensing company carries out technical cooperation and training with Guangxi Guineng information company and Guangzhou Jiantong surveying and mapping company in turn. Since then, the use of airborne LIDAR has been developed in chinese geodetic areas like spring shoots after rain. The technology is combined with the actual application of China to the fields of large-scale topographic map drawing, power line patrol, road design, forest parameter inversion and the like for many times, and the development of the airborne LIDAR technology is greatly promoted.
At present, enterprises for manufacturing laser radar systems at home and abroad mainly include Leica, Optech, IGI, Toposys, Saab, Reigl and the like at home and abroad, digital smectite and the like at home and abroad. The flow of point cloud data acquisition and reconstruction is roughly as follows: setting a flight path, loading a laser radar system on a flight platform, scanning point cloud according to the preset flight path, copying data to a computer for reading after landing, evaluating and obtaining the quality of the point cloud data, and adjusting the flight path for secondary or even multiple scanning until the quality meets the requirement if a missing point or the point cloud quality is poor. This method is time consuming, labor intensive and inefficient. Therefore, the point cloud data can be processed in real time, and the flight path, the scanning frequency and the field angle of the laser scanner, the photographing frequency of the high-resolution CCD camera and the like can be timely adjusted according to the point cloud quality, so that the quality and the working efficiency of the airborne LIDAR system can be improved.
Disclosure of Invention
In view of the above, the invention provides a light airborne laser radar real-time processing and control system, which can realize that the airborne laser radar obtains high-quality point cloud data within the least number of times.
The technical scheme for realizing the invention is as follows:
a light airborne laser radar real-time processing and control system comprises a light unmanned aerial vehicle platform, an airborne laser radar system and a ground control system;
the light unmanned aerial vehicle platform is used for carrying an airborne laser radar system;
the airborne laser radar system comprises a laser scanner, a high-speed computing unit, a high-resolution CCD camera, a large-capacity storage unit and a 5G communication module;
the laser scanner is used for scanning a ground object in a target area range to obtain mass point cloud data of the ground object;
the high-resolution CCD camera is used for acquiring image data of ground objects in the target area;
the high-speed computing unit is used for controlling the laser scanner and the high-resolution CCD camera and carrying out real-time post-processing on the acquired mass point cloud data to obtain point cloud model data;
the large-capacity storage unit is divided into two storage areas, wherein the first storage area is used for loading a Linux system and storing the acquired original mass point cloud data and image data, and the second storage area is used for storing reconstructed point cloud model data;
the 5G communication module is used for establishing communication connection between the airborne laser radar system and the ground control system, so that the ground control system can remotely control the airborne laser radar system in real time;
the ground control system is used for controlling the flight safety of the light unmanned aerial vehicle platform, transmitting point cloud model data constructed by the high-speed computing unit and image data of the high-resolution CCD camera back in real time, and remotely controlling the high-speed computing unit to improve the scanning efficiency.
Further, light-duty unmanned aerial vehicle platform is six rotor unmanned aerial vehicle.
Furthermore, in the airborne laser radar system, data is exchanged between the laser scanner and the high-speed computing unit through an Ethernet protocol, and data is exchanged between the high-resolution CCD camera and the high-speed computing unit through an HDMI video protocol.
Further, the laser scanner emits the extremely narrow pulse to the target object, and simultaneously, the laser signal is sampled to obtain a laser main wave pulse; collecting reflected echoes through the same scanning mirror and the same high beam mirror, and converting the echoes into electric signals; processing the irregular echo signals, estimating the possible time delay of target ranging, and giving a callback pulse signal; and calculating the accurate distance between the laser scanner and the target object through the time interval between the laser echo pulse and the laser emission main pulse.
Furthermore, the high-speed computing unit guides the real-time acquisition images of the high-resolution CCD camera and the laser scanner into the high-speed computing unit through an HDMI video protocol and an Ethernet protocol; and transmitting a display interface of the high-speed computing unit back to the ground in real time by virtue of a large data link, controlling the airborne laser radar system by a ground control system according to the data quality by ground workers to complete the processes of repeated scanning, filtering, denoising, cutting and interpolation, and reconstructing a point cloud model of the processed point cloud data.
Furthermore, the high-resolution CCD camera is controlled by a ground control system to acquire image and image data; transmitting the acquired image data to a high-speed computing unit in real time; and transmitting the real-time acquisition picture to the ground.
Furthermore, the ground control system comprises a remote control transmitter, a PC receiver and a 5G receiving antenna;
the remote control launching is used for controlling the light unmanned aerial vehicle platform to fly, avoid obstacles and rise and fall; providing real-time image data of a high-speed computing unit for a PC receiver by means of a large-channel data link; the CCD camera is used for controlling the work of the laser scanner and the high-resolution CCD camera;
the PC receiver is used for receiving the real-time image data of the high-speed computing unit; the 5G receiver is connected with the high-speed computing unit, and the onboard laser radar system is sent instructions by means of external equipment to realize remote control;
the 5G receiver is used for achieving communication connection between the airborne laser radar system and the PC receiver and achieving remote control of the airborne laser radar system by the ground end.
Has the advantages that:
the system can process point cloud data in real time, observe a point cloud model and operate the airborne laser radar system, and skillfully solves the problem that secondary repeated scanning is required due to the point cloud quality problem. Reconstructing point cloud data in real time through an airborne high-speed computing unit, acquiring image data of the high-resolution CCD camera in real time, and transmitting a point cloud data processing result and the image data back to a ground PC control end in real time; the ground PC control end can adjust the flight route and the parameters of the laser scanner in time by a high-resolution CCD camera according to the point cloud quality, so that high-quality point cloud data can be obtained within the minimum number of times; the system has the advantages of low operation cost, few use limitations, high working efficiency, real-time visualization, simple operation and maintenance, long-distance remote control, high data precision and the like.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention.
Fig. 2 is a schematic block diagram of an airborne lidar system of the present system.
FIG. 3 is a schematic block diagram of a ground control system of the present invention.
FIG. 4 is a system integration diagram of the system of the present invention.
FIG. 5 is a data processing flow diagram of the system of the present invention.
FIG. 6 is a remote control flow diagram of the system of the present invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a light airborne laser radar real-time processing and control system, and figure 1 is a composition structure diagram of the system, and the system mainly comprises a light unmanned aerial vehicle platform, an airborne laser radar system and a ground control system according to functional division.
Light unmanned aerial vehicle platform: a six-rotor unmanned aerial vehicle is taken as a carrying platform; the six-rotor unmanned aerial vehicle is selected as a carrying platform of the laser radar system by combining various considerations such as operability, convenience, effective load and cost.
Airborne laser radar system: the system is used for acquiring, processing and storing mass point cloud data and CCD image data; the device comprises a laser scanner, a high-speed computing unit, a high-resolution CCD camera, a large-capacity storage unit and a 5G communication module.
A ground control system: the flight safety is guaranteed, the point cloud model constructed by the airborne high-speed computing unit and the high-resolution CCD camera image data are transmitted back in real time, the airborne high-speed computing unit is remotely controlled, and the scanning efficiency is improved.
Fig. 2 is a schematic diagram of the sky-side of a light airborne lidar real-time processing and control system of the present invention. The sky end mainly comprises the following parts: the system comprises an airborne power supply, a multifunctional power supply module, an airborne communication module, a relay, a laser scanner, a high-speed computing unit, a high-resolution CCD camera, a 5G communication module and the like; the airborne power supply and the multifunctional power supply module supply power to the sky-end airborne equipment; the airborne equipment is communicated with the ground end through the airborne communication module and the 5G communication module; the high-resolution CCD camera collects image data in real time; the laser scanner is matched with a relay to obtain real-time point cloud data; the high-speed computing unit processes the image data acquired by the high-resolution CCD camera and the point cloud data acquired by the laser scanner, and transmits the processing result back to the ground end in real time, so that the real-time processing of the airborne point cloud data and the image data is realized.
Fig. 3 is a ground-side schematic block diagram of a real-time processing and control system of a light airborne lidar in accordance with the present invention. The ground end mainly comprises the following parts: the remote control transmitting and multifunctional expanding module comprises a remote control transmitting module, a multifunctional expanding module, a communication module, a computer and control equipment; the remote control emission and multifunctional expansion module controls the sky end flying platform, the laser scanner and the high-resolution CCD camera through an airborne link; the computer and the control equipment are matched with the communication module, so that the real-time interface information of the high-speed computing unit at the sky end can be acquired in real time, remote control is performed, and large-range, long-distance and low-delay control is realized.
Fig. 5 is a data processing flow chart of the light airborne lidar real-time processing and control system of the invention. The laser radar transmits the acquired point cloud data, the high-resolution CCD camera transmits the acquired image data, and the flight platform transmits the acquired IMU and GPS data to the airborne high-speed computing unit through a data line; after the operations of GPS quality detection, track calculation, laser foot point calculation, point cloud generation, segmentation and classification processing and the like are carried out, the data are transmitted back to the ground, and the real-time processing of the data is realized.
Fig. 6 is a remote control flow chart of the light airborne lidar real-time processing and control system of the present invention. The remote control emission and the multifunctional expansion channel are combined for use, the flight state of the flight platform is controlled, whether the laser radar works or not is controlled, and whether a camera takes a picture or not is controlled; the computer is matched with the control equipment to realize real-time display of the sky end high-speed computing unit interface and realize remote control through the communication module.
Fig. 4 is a system integration diagram of a light airborne lidar real-time processing and control system of the present invention. Through the airborne support of self-design, with laser scanner, high-speed computational unit, high resolution CCD camera, large capacity memory cell, the reasonable layout of 5G communication module, accurate equipment realizes being connected with the airborne platform is firm.
The invention can process point cloud data in real time, observe a point cloud model, control an airborne laser radar system and skillfully solve the problem that secondary repeated scanning is required due to the point cloud quality problem.
The technical indexes of the embodiment are as follows: the ground speed of the airplane is 5 m/s; ground height 80m (260 ft); the mapping bandwidth is 200 m;
laser scanning radar parameters: the laser emission frequency is 100 kHz; the maximum distance measurement is 120-200 m; a recommended operational flying height of 80 m; maximum number of received echoes: 5; minimum distance measurement is 3 m; the precision is 15 mm; the scanning mechanism rotates the wedge prism; field angle ± 23 ° (circular scan mode); angular resolution 0.001 ° (3.6 arcsec);
high resolution CCD camera parameters: the resolution is 16M/14M/12M/8.3M/5M/3M; output mode AV/HD; compression format h.264; data format MP 4/. JPG; an aperture F/2.8, 11 glass lens; the angle is 90 degrees;
high-speed calculation of unit parameters: processors i 7-8550U; the memory 8GB 64bit, DDR 42400 MHz; SATA-SSD 256 GB; a network gigabit Ethernet RJ-45 interface;
light unmanned aerial vehicle platform parameters: the maximum takeoff weight is 15.5 kg; the maximum bearable wind speed is 8 m/s; the maximum takeoff altitude is 2500 m; maximum horizontal flying speed 18m/s (no wind environment); the endurance time is 38min without load, and the load is 5.5kg for 18 min;
the cruising speed of the unmanned aerial vehicle is 1-5 m/s; the effective flight control radius is more than 5 km; the effective communication control radius is more than 10 km.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A light airborne laser radar real-time processing and control system is characterized by comprising a light unmanned aerial vehicle platform, an airborne laser radar system and a ground control system;
the light unmanned aerial vehicle platform is used for carrying an airborne laser radar system;
the airborne laser radar system comprises a laser scanner, a high-speed computing unit, a high-resolution CCD camera, a large-capacity storage unit and a 5G communication module;
the laser scanner is used for scanning a ground object in a target area range to obtain mass point cloud data of the ground object;
the high-resolution CCD camera is used for acquiring image data of ground objects in the target area;
the high-speed computing unit is used for controlling the laser scanner and the high-resolution CCD camera and carrying out real-time post-processing on the acquired mass point cloud data to obtain point cloud model data;
the large-capacity storage unit is divided into two storage areas, wherein the first storage area is used for loading a Linux system and storing the acquired original mass point cloud data and image data, and the second storage area is used for storing reconstructed point cloud model data;
the 5G communication module is used for establishing communication connection between the airborne laser radar system and the ground control system, so that the ground control system can remotely control the airborne laser radar system in real time;
the ground control system is used for controlling the flight safety of the light unmanned aerial vehicle platform, transmitting point cloud model data constructed by the high-speed computing unit and image data of the high-resolution CCD camera back in real time, and remotely controlling the high-speed computing unit to improve the scanning efficiency.
2. The system of claim 1, wherein the drone platform is a hexarotor drone.
3. The light airborne lidar system of claim 1, wherein the laser scanner exchanges data with the high-speed computing unit via an ethernet protocol, and the high-resolution CCD camera exchanges data with the high-speed computing unit via an HDMI video protocol.
4. The system as claimed in claim 1, wherein the laser scanner emits very narrow pulses to the target, and the laser signal is sampled to obtain the main laser pulse; collecting reflected echoes through the same scanning mirror and the same high beam mirror, and converting the echoes into electric signals; processing the irregular echo signals, estimating the possible time delay of target ranging, and giving a callback pulse signal; and calculating the accurate distance between the laser scanner and the target object through the time interval between the laser echo pulse and the laser emission main pulse.
5. The light airborne lidar real-time processing and control system of claim 3, wherein the high-speed computing unit directs the real-time captured images of the high-resolution CCD camera and the laser scanner to the high-speed computing unit via HDMI video protocol and ethernet protocol; and transmitting a display interface of the high-speed computing unit back to the ground in real time by virtue of a large data link, controlling the airborne laser radar system by a ground control system according to the data quality by ground workers to complete the processes of repeated scanning, filtering, denoising, cutting and interpolation, and reconstructing a point cloud model of the processed point cloud data.
6. The light airborne lidar real-time processing and control system of claim 1, wherein the high resolution CCD camera, under the control of a ground control system, performs image and video data acquisition; transmitting the acquired image data to a high-speed computing unit in real time; and transmitting the real-time acquisition picture to the ground.
7. The light airborne lidar real-time processing and control system of claim 1, wherein the ground control system comprises a remote transmitter, a PC receiver, a 5G receiving antenna;
the remote control launching is used for controlling the light unmanned aerial vehicle platform to fly, avoid obstacles and rise and fall; providing real-time image data of a high-speed computing unit for a PC receiver by means of a large-channel data link; the CCD camera is used for controlling the work of the laser scanner and the high-resolution CCD camera;
the PC receiver is used for receiving the real-time image data of the high-speed computing unit; the 5G receiver is connected with the high-speed computing unit, and the onboard laser radar system is sent instructions by means of external equipment to realize remote control;
the 5G receiver is used for achieving communication connection between the airborne laser radar system and the PC receiver and achieving remote control of the airborne laser radar system by the ground end.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113009505A (en) * | 2021-02-01 | 2021-06-22 | 武汉珞珈新空科技有限公司 | Airborne laser radar data acquisition equipment, system and unmanned aerial vehicle aircraft |
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