CN112558102A - Airborne oblique laser three-dimensional measurement and composite imaging system and use method thereof - Google Patents
Airborne oblique laser three-dimensional measurement and composite imaging system and use method thereof Download PDFInfo
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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
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
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- 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
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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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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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
- 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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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Abstract
The invention provides an airborne oblique laser three-dimensional measurement and composite imaging system and a using method thereof. By adopting the mode that the multi-beam laser radar, the visible light camera and the scanning mechanism work cooperatively under the synchronization of the pulse per second output by the GNSS/IMU combined navigation unit, the synchronous observation of the multi-beam laser radar and the visible light camera on the ground target is realized, and the problem of all-time inclination/vertical high-resolution imaging stereo measurement of a target area under an airborne platform is solved; by adopting the framework of diffraction element beam splitting, array optical fiber receiving and array single photon detector detection and combining the one-dimensional scanning mechanism and platform movement, the radar range and the measurement precision are ensured, and simultaneously the ground resolution and the imaging efficiency are considered.
Description
Technical Field
The invention relates to the technical field of general image data processing or generation, in particular to an airborne oblique laser three-dimensional measurement and composite imaging system and a using method thereof.
Background
The basic geographic information is one of the information resources with the largest data volume, the widest coverage and the widest application range in China, is an important basis for national economy and social informatization, and is also an information guarantee for guiding military operations and playing the fighting efficiency of weaponry. The method can be applied to various fields such as military reconnaissance, battlefield environment monitoring, national security, national economy, social development and the like. How to acquire basic geographic information data of a target area in a large range, high resolution, high precision and fast is an important strategic research direction of each country.
The three-dimensional imaging laser radar is a new three-dimensional data acquisition means, can quickly acquire topographic surface data, surface feature and the like, is a high-precision, high-density and high-efficiency active measurement technology, obtains distance information by measuring the flight time of light pulse or modulated light signal between the radar and a target, and obtains orientation information in a plane vertical to the direction of the light beam by scanning or multi-point detection. The three-dimensional imaging laser radar can be divided into a scanning imaging system and an area array imaging system according to an imaging system. The scanning imaging system realizes single-point distance acquisition through a single light beam and a corresponding detection unit, and in order to realize large-area three-dimensional imaging, a two-dimensional scanning mechanism or a scanning mechanism combining one-dimensional scanning and platform push scanning needs to be adopted, so that laser spots form a dense dot matrix on the surface of a target area, and a three-dimensional image of the target area is acquired. The area array imaging system performs flood irradiation or multi-beam split irradiation on a target through laser at a laser transmitting end, detects echo photons diffusely reflected at different positions on the surface of the target by using an area array detector, measures the flight time of echo optical signals detected by each detection array element, and performs post-processing to obtain a three-dimensional image of the target. With the development of the multi-beam light splitting technology and the single photon array detection technology, a foundation is laid for the development of the three-dimensional imaging laser radar in the directions of compaction, solid state and high frame frequency, and meanwhile, a technical route of micro-pulse high repetition frequency laser emission, optical array reception and single photon array detection of a new generation of three-dimensional imaging laser radar system is also established. The laser radar with integrated optical system technology features the array of transmitting and receiving optical systems, the digitalization, integration and chip of signal detection, processing and transmission. Compared with the traditional scanning system laser three-dimensional imaging method, the method can meet the imaging detection application requirements of higher imaging resolution, higher positioning accuracy and higher efficiency at a long distance. The three-dimensional imaging laser radar technology also has some defects, such as very limited contour capability of ground objects, low density resolution of imaging points, and the like.
The oblique photogrammetry technology is to utilize an imaging photographic device to simultaneously and rapidly acquire an oblique image and an orthoimage, then utilize a computer automatic graphic processing technology to carry out automatic space-three processing, and through image matching and surface texture mapping technical means, the real scenery on the earth surface is really restored to the maximum extent, but the problem of poor elevation measurement precision exists.
The three-dimensional laser scanning and oblique photogrammetry technologies have respective advantages and disadvantages, the two technical means are combined to mutually make up for the defects, high-precision and high-density three-dimensional imaging can be rapidly and comprehensively obtained, and the surface change of the terrain can be obviously reflected.
Disclosure of Invention
The invention aims to solve the problem that three-dimensional information is difficult to obtain with high resolution, high precision and high efficiency, and provides an airborne oblique laser three-dimensional measurement and composite imaging system and a using method thereof.A mode that a multi-beam laser radar, a visible light camera and a scanning mechanism work cooperatively under the synchronization of second pulses output by a GNSS/IMU combined navigation unit is adopted, so that the synchronous observation of the multi-beam laser radar and the visible light camera on a ground target is realized, and the problem of all-day oblique/vertical high-resolution imaging stereo measurement of a target area under an airborne platform is solved; by adopting the framework of diffraction element beam splitting, array optical fiber receiving and array single photon detector detection and combining the one-dimensional scanning mechanism and platform movement, the radar range and the measurement precision are ensured, and simultaneously the ground resolution and the imaging efficiency are considered.
The invention provides an airborne oblique laser three-dimensional measurement and composite imaging system, which comprises a servo scanning subsystem, a multi-beam laser radar subsystem, a visible light camera and a GNSS/IMU combined navigation unit, wherein the servo scanning subsystem is arranged on a flight platform, the multi-beam laser radar subsystem and the visible light camera are respectively arranged on the servo scanning subsystem, and the GNSS/IMU combined navigation unit is connected with the servo scanning subsystem;
the system comprises a servo scanning subsystem, a multi-beam laser radar subsystem, a visible light camera and a control subsystem, wherein the servo scanning subsystem is used for realizing one-dimensional small-angle quick swinging and scanning by taking any pitch angle in the vertical direction of flight of a flight platform as a center, the multi-beam laser radar subsystem is used for driving the servo scanning subsystem and realizing continuous measurement along the rail direction so as to acquire, store and output photoelectron point cloud data of a target region, and the visible light camera is used for realizing cooperative measurement with the multi-beam laser radar subsystem by utilizing the motion of the servo scanning subsystem; the GNSS/IMU combined navigation unit is used for acquiring the pointing angle of the servo scanning subsystem and outputting the geographic coordinate information of the flight platform, and the photoelectron point cloud data, the visible light image, the pointing angle and the geographic coordinate information are used for being fused into a three-dimensional image of a target area.
The invention relates to an airborne oblique laser three-dimensional measurement and composite imaging system, which is characterized in that a servo scanning subsystem comprises a first scanning mechanism, a second scanning mechanism and a mechanism driving control unit electrically connected with the first scanning mechanism and the second scanning mechanism, a multi-beam laser radar subsystem is arranged on the first scanning mechanism, a visible light camera is arranged on the second scanning mechanism, the mechanism driving control unit is electrically connected with the multi-beam laser radar subsystem, and a GNSS/IMU combined navigation unit is integrally and rigidly connected with a fixed part of the first scanning mechanism and a fixed part of the second scanning mechanism.
The invention relates to an airborne oblique laser three-dimensional measurement and composite imaging system, which is characterized in that as a preferred mode, a multi-beam laser radar subsystem comprises a multi-beam laser radar, wherein the multi-beam laser radar comprises a single-wavelength laser and a laser beam splitter which are sequentially arranged, a receiving telescope, a receiving optical unit, an array single-photon detector and a comprehensive management and data processing unit which is electrically connected with the single-wavelength laser and the array single-photon detector which are sequentially arranged;
the single-wavelength laser is used for emitting laser pulses, the laser beam splitter is used for receiving the laser pulses and splitting the laser pulses into multiple beams to be emitted to a target area, the receiving telescope is used for receiving and outputting the multiple beams scattered by the target area, the receiving optical unit is used for carrying out optical coupling, beam splitting, collimation and filtering on the multiple beams output by the receiving telescope and then converting the multiple beams into scattered light and echo light signals of emitted light signals to be converged on corresponding pixels of the array single-photon detector, and the array single-photon detector is used for receiving the scattered light and the echo light signals of the emitted light signals, carrying out photoelectric conversion and outputting emitted signal electric pulses and echo signal electric pulses to the comprehensive management and data processing unit; the comprehensive management and data processing unit is used for controlling the single-wavelength laser to emit laser pulses, measuring and storing the time difference between the multi-channel emission signal electric pulses and the echo signal electric pulses, and the time difference is photoelectron point cloud data;
the comprehensive management and data processing unit is electrically connected with the mechanism driving control unit and is used for controlling the mechanism driving control unit.
The invention relates to an airborne oblique laser three-dimensional measurement and composite imaging system, which is characterized in that a laser beam splitter comprises a beam expander for compressing the divergence angle of laser pulses and a diffraction beam splitter for splitting laser multilines to enable the laser to be emitted at fixed equal interval angles.
The invention relates to an airborne oblique laser three-dimensional measurement and composite imaging system, which is used as a preferred mode, wherein a receiving optical unit comprises an array coupling optical fiber and a double telecentric lens, the array coupling optical fiber is used for coupling and outputting echo optical signals of different beams to the double telecentric lens, and the double telecentric lens receives the echo optical signals output by the array coupling optical fiber, collimates and filters the echo optical signals in narrow bands, and then converges the echo optical signals in different optical fiber channels to a photosensitive surface corresponding to an array single photon detector;
the array coupling optical fiber is fixed by using a V-shaped groove, the optical fiber at the focal plane end of the receiving telescope is in 16 multiplied by 4 multi-line arrangement, and the beam is split into 4 beams; the front ends of the double telecentric lenses are arranged in a 4 multiplied by 4 matrix;
the array single photon detector is an avalanche photodiode array, and the photosensitive surface pixels are arranged in a multichannel rectangle.
As an optimal mode, the comprehensive management and data processing unit comprises carry chain resources in an FPGA.
The invention relates to an airborne oblique laser three-dimensional measurement and composite imaging system, which is used as a preferred mode, wherein a multi-beam laser radar subsystem carries out laser pulse emission according to a fixed time sequence under the synchronization of second pulses output by a GNSS/IMU combined navigation unit;
and the visible light imaging camera performs visible light exposure according to a fixed time sequence under the synchronization of the pulse per second output by the GNSS/IMU combined navigation unit.
The invention provides a use method of an airborne oblique laser three-dimensional measurement and composite imaging system, which comprises the following steps:
s1, acquiring photoelectron point cloud data: the servo scanning subsystem drives the multi-beam laser radar subsystem to realize one-dimensional small-angle rapid swinging and scanning by taking any pitch angle in the vertical direction of the flight platform as a center, and the multi-beam laser radar subsystem realizes continuous measurement along the rail direction by utilizing the motion of the flight platform and acquires photoelectron point cloud data storage and output of a target area;
s2, acquiring visible light image information: the servo scanning subsystem drives the visible light camera to realize one-dimensional small-angle rapid swinging scanning by taking any pitch angle in the vertical direction of the flying platform as the center, and the servo scanning subsystem and the multi-beam laser radar subsystem cooperatively measure and acquire visible light image information of a target area to output;
s3, acquiring the pointing angle and the geographic coordinate information of the flight platform: the GNSS/IMU combined navigation unit acquires the pointing angle of the servo scanning subsystem and outputs the geographic coordinate information of the flight platform;
s4, coordinate calculation: the photoelectron point cloud data, the visible light image, the pointing angle and the geographic coordinate information are fused and converted into three-dimensional coordinate values of the laser ground points under a geocentric coordinate system WGS84, and the section point cloud of the scanning track is output;
s5, composite imaging: the method comprises the steps of carrying out point cloud denoising and filtering on the profile point cloud to obtain a linear digital elevation model, obtaining three-dimensional laser point cloud of a target area through a plurality of linear digital elevation models, converting visible light image information combined with geographic coordinate information of a flight platform into a track file and an image external orientation element of a visible light camera, combining the track file and the image external orientation element with an original image of the visible light camera to generate a digital orthoimage, and registering the three-dimensional laser point cloud and the digital orthoimage to obtain a three-dimensional image of the target area.
The use method of the airborne oblique laser three-dimensional measurement and composite imaging system is characterized in that as a preferable mode,
in step S1, the photoelectron point cloud data is the time difference Δ t between the emission signal electric pulse and the echo signal electric pulse of the multi-beam lidar subsystem;
in step S3, the pointing angle is θ;
in step S3, the geographic coordinate information includes a heading angle, a pitch angle, a roll angle, a latitude coordinate B, a longitude coordinate L, and an ellipsoid height coordinate H.
In the method for using the airborne oblique laser three-dimensional measurement and composite imaging system, as a preferred mode, step S4 includes:
s41, obtaining radar ranging distance: converting the time difference Δ t into a radar range (ρ): ρ ═ C × Δ t/2, where C is the speed of light transmission in the atmosphere, i.e., 299552816 m/s;
s42, obtaining coordinates under a WGS84 coordinate system: converting latitude coordinate B, longitude coordinate L and ellipsoid altitude coordinate H into coordinate [ X ] in WGS84 coordinate systemgps Ygps Zgps]T:
s43, obtaining offset and offset angle: measuring to obtain the offset [ X ] from the laser emergent point of the multi-beam laser radar subsystem to the center of the GNSS/IMU integrated navigation unit antennaoffset Yoffset Zoffset]TAnd obtaining the offset angle of the GNSS/IMU combined navigation unit and the multi-beam laser radar subsystem: α, β, γ;
s44, obtaining three-dimensional coordinate values under a geocentric coordinate system WGS 84: the radar distance rho, the pointing angle theta, and the coordinate [ X ] under the WGS84 coordinate systemgps Ygps Zgps]TAnd the offset angles alpha, beta, gamma are converted into three-dimensional coordinate values [ X ] under the geocentric coordinate system WGS84EYE ZE]T：
Wherein:
the invention has the following advantages:
(1) the invention adopts a mode that the multi-beam laser radar, the visible light camera and the scanning mechanism work cooperatively under the synchronization of the pulse per second output by the GNSS/IMU combined navigation unit, realizes the synchronous observation of the multi-beam laser radar and the visible light camera on the ground target, and solves the problem of all-time tilt/vertical high-resolution imaging stereo measurement of a target area under an airborne platform.
(2) The multi-beam laser radar subsystem adopts a framework of diffraction element beam splitting, array optical fiber receiving and array single-photon detector detection, and combines a one-dimensional scanning mechanism and platform movement, thereby ensuring the radar action distance and the measurement precision and simultaneously considering the ground resolution and the imaging efficiency. The problem of laser three-dimensional imaging long distance, high resolution, high accuracy, high efficiency acquisition is solved.
Drawings
FIG. 1 is a structural diagram of an embodiment 1 of an airborne oblique laser three-dimensional measurement and composite imaging system;
FIG. 2 is a diagram of the structure of an embodiment 2-3 of an airborne oblique laser three-dimensional measurement and composite imaging system;
FIG. 3 is a flow chart of a method for using an airborne oblique laser three-dimensional measurement and composite imaging system;
fig. 4 is a flowchart of a method step S4 for using an airborne oblique laser three-dimensional measurement and composite imaging system.
Reference numerals:
1. a servo scanning subsystem; 11. a first scanning mechanism; 12. a second scanning mechanism; 13. a mechanism drive control unit; 2. a multi-beam lidar subsystem; 21. a single wavelength laser; 22. a laser beam splitter; 23. a receiving telescope; 24. a receiving optical unit; 25. an array single photon detector; 26. a comprehensive management and data processing unit; 3. a visible light camera; 4. GNSS/IMU integrated navigation unit.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example 1
As shown in fig. 1, an airborne oblique laser three-dimensional measurement and composite imaging system includes a servo scanning subsystem 1 installed on a flight platform, a multi-beam lidar subsystem 2, a visible light camera 3, and a GNSS/IMU integrated navigation unit 4 connected to the servo scanning subsystem 1, which are respectively installed on the servo scanning subsystem 1;
the servo scanning subsystem 1 is used for realizing one-dimensional small-angle rapid swinging and scanning by taking any pitch angle in the vertical direction of flight of the flight platform as a center, the multi-beam laser radar subsystem 2 is used for driving the servo scanning subsystem 1 and realizing continuous measurement along the rail direction to acquire, store and output photoelectron point cloud data of a target area, and the visible light camera 3 is used for realizing cooperative measurement with the multi-beam laser radar subsystem 2 by utilizing the motion of the servo scanning subsystem 1 and acquiring and outputting visible light image information of the target area; the GNSS/IMU combined navigation unit 4 is used for acquiring the pointing angle of the servo scanning subsystem 1 and outputting geographic coordinate information of the flight platform, and the photoelectron point cloud data, the visible light image, the pointing angle and the geographic coordinate information are used for being fused into a three-dimensional image of a target area.
Example 2
As shown in fig. 2, an airborne oblique laser three-dimensional measurement and composite imaging system includes a servo scanning subsystem 1 installed on a flight platform, a multi-beam lidar subsystem 2, a visible light camera 3, and a GNSS/IMU integrated navigation unit 4 connected to the servo scanning subsystem 1, which are respectively installed on the servo scanning subsystem 1;
the servo scanning subsystem 1 is used for realizing one-dimensional small-angle rapid swinging and scanning by taking any pitch angle in the vertical direction of flight of the flight platform as a center, the multi-beam laser radar subsystem 2 is used for driving the servo scanning subsystem 1 and realizing continuous measurement along the rail direction to acquire, store and output photoelectron point cloud data of a target area, and the visible light camera 3 is used for realizing cooperative measurement with the multi-beam laser radar subsystem 2 by utilizing the motion of the servo scanning subsystem 1 and acquiring and outputting visible light image information of the target area; the GNSS/IMU combined navigation unit 4 is used for acquiring the pointing angle of the servo scanning subsystem 1 and outputting geographic coordinate information of a flight platform, and the photoelectron point cloud data, the visible light image, the pointing angle and the geographic coordinate information are used for being fused into a three-dimensional image of a target area;
the servo scanning subsystem 1 comprises a first scanning mechanism 11, a second scanning mechanism 12 and a mechanism driving control unit 13 electrically connected with the first scanning mechanism 11 and the second scanning mechanism 12, the multi-beam laser radar subsystem 2 is arranged on the first scanning mechanism 11, the visible light camera 3 is arranged on the second scanning mechanism 12, the mechanism driving control unit 13 is electrically connected with the multi-beam laser radar subsystem 2, and the GNSS/IMU combined navigation unit 4 is integrally and rigidly connected with a fixed part of the first scanning mechanism 11 and a fixed part of the second scanning mechanism 12;
the multi-beam laser radar subsystem 2 comprises a multi-beam laser radar, wherein the multi-beam laser radar comprises a single-wavelength laser 21, a laser beam splitter 22, a receiving telescope 23, a receiving optical unit 24, an array single-photon detector 25 and a comprehensive management and data processing unit 26, wherein the single-wavelength laser 21 and the array single-photon detector 25 are sequentially arranged;
the single-wavelength laser 21 is used for emitting laser pulses, the laser beam splitter 22 is used for receiving the laser pulses and splitting the laser pulses into multiple beams to be emitted to a target area, the receiving telescope 23 is used for receiving the multiple beams scattered by the target area and outputting the multiple beams, the receiving optical unit 24 is used for optically coupling, splitting, collimating and filtering the multiple beams output by the receiving telescope 23 to convert scattered light and echo light signals into emitted light signals to be converged on corresponding pixels of the array single-photon detector 25, and the array single-photon detector 25 is used for receiving the scattered light and echo light signals of the emitted light signals to perform photoelectric conversion and outputting emitted signal electric pulses and echo signal electric pulses to the comprehensive management and data processing unit 26; the comprehensive management and data processing unit 26 is used for controlling the single-wavelength laser 21 to emit laser pulses, the comprehensive management and data processing unit 26 is used for measuring and storing the time difference between the multi-channel emission signal electric pulses and the echo signal electric pulses, and the time difference is photoelectron point cloud data;
the integrated management and data processing unit 26 is electrically connected with the mechanism driving control unit 13, and the integrated management and data processing unit 26 is used for controlling the mechanism driving control unit 13;
the laser beam splitter 22 comprises a beam expander for compressing the divergence angle of the laser pulse and a diffraction beam splitter for splitting the laser multiline so that the laser is emitted at fixed equal interval angles;
the receiving optical unit 24 includes an array coupling optical fiber and a double telecentric lens, the array coupling optical fiber is used for coupling and outputting the echo optical signals of different beams to the double telecentric lens, and the double telecentric lens receives the echo optical signals output by the array coupling optical fiber, collimates and filters the echo optical signals in a narrow band, and then converges the echo optical signals of different optical fiber channels to a photosensitive surface corresponding to the array single-photon detector 25;
the array coupling optical fiber is fixed by using a V-shaped groove, the optical fiber at the focal plane end of the receiving telescope 23 is in 16 multiplied by 4 multi-line arrangement, and the beam is split into 4 beams; the front ends of the double telecentric lenses are arranged in a 4 multiplied by 4 matrix;
the array single photon detector 25 is an avalanche photodiode array, and the photosensitive surface pixels are arranged in a multichannel rectangle;
the integrated management and data processing unit 26 includes carry chain resources in the FPGA;
the multi-beam laser radar subsystem 2 emits laser pulses according to a fixed time sequence under the synchronization of the pulse per second output by the GNSS/IMU combined navigation unit 4;
the visible light imaging camera 3 performs visible light exposure according to a fixed timing sequence under the synchronization of the pulse per second output by the GNSS/IMU integrated navigation unit 4.
Example 3
As shown in fig. 2, an airborne oblique laser three-dimensional measurement and composite imaging system includes a servo scanning subsystem 1 installed on a flight platform, a multi-beam lidar subsystem 2, a visible light camera 3, and a GNSS/IMU integrated navigation unit 4 connected to the servo scanning subsystem 1, which are respectively installed on the servo scanning subsystem 1;
the servo scanning subsystem 1 is used for realizing one-dimensional small-angle rapid swinging and scanning by taking any pitch angle in the vertical direction of flight of the flight platform as a center, the multi-beam laser radar subsystem 2 is used for driving the servo scanning subsystem 1 and realizing continuous measurement along the rail direction to acquire, store and output photoelectron point cloud data of a target area, and the visible light camera 3 is used for realizing cooperative measurement with the multi-beam laser radar subsystem 2 by utilizing the motion of the servo scanning subsystem 1 and acquiring and outputting visible light image information of the target area; the GNSS/IMU combined navigation unit 4 is used for acquiring the pointing angle of the servo scanning subsystem 1 and outputting geographic coordinate information of a flight platform, and the photoelectron point cloud data, the visible light image, the pointing angle and the geographic coordinate information are used for being fused into a three-dimensional image of a target area;
the servo scanning subsystem 1 comprises a first scanning mechanism 11, a second scanning mechanism 12 and a mechanism driving control unit 13 electrically connected with the first scanning mechanism 11 and the second scanning mechanism 12, the multi-beam laser radar subsystem 2 is arranged on the first scanning mechanism 11, the visible light camera 3 is arranged on the second scanning mechanism 12, the mechanism driving control unit 13 is electrically connected with the multi-beam laser radar subsystem 2, and the GNSS/IMU combined navigation unit 4 is integrally and rigidly connected with a fixed part of the first scanning mechanism 11 and a fixed part of the second scanning mechanism 12; the mechanism driving control unit drives the first scanning mechanism to realize one-dimensional small-angle rapid swinging scanning by taking any pitch angle in the vertical direction of the airplane flying as the center under the control of the comprehensive management and data processing unit, the swinging scanning angle range is +/-5 degrees, and meanwhile, the continuous measurement in the rail direction is realized by utilizing the movement of the airplane, so that the wide continuous laser three-dimensional imaging of the multi-beam laser radar on the ground target is realized. The imaging width can reach 1km when the flying height of the platform is 6 km;
the visible light camera is arranged on a second scanning mechanism of the servo scanning subsystem, the mechanism driving control unit drives the second scanning mechanism under the control of the comprehensive management and data processing unit, and the direction of the optical axis of the visible light camera is adjusted to be consistent with the direction of the scanning central angle of the laser radar subsystem; the focal length of the visible light camera is 35mm, the visible light camera is fixed on the second scanning mechanism according to an orthographic angle, and the visible light camera and the laser are cooperatively measured to obtain visible light image information of a target area;
the multi-beam laser radar subsystem 2 comprises a multi-beam laser radar, wherein the multi-beam laser radar comprises a single-wavelength laser 21, a laser beam splitter 22, a receiving telescope 23, a receiving optical unit 24, an array single-photon detector 25 and a comprehensive management and data processing unit 26, wherein the single-wavelength laser 21 and the array single-photon detector 25 are sequentially arranged;
the single-wavelength laser 21 is used for emitting laser pulses with the wavelength of 1064nm, single-pulse energy of 1mJ, pulse width of 2ns and repetition frequency of 40KHz, and outputting the laser pulses through a coupling optical fiber; the laser beam splitter 22 is used for receiving laser pulses and splitting the laser pulses into multiple beams to be transmitted to a target area, the receiving telescope 23 is used for receiving and outputting the multiple beams scattered by the target area, the receiving optical unit 24 is used for optically coupling, splitting, collimating and filtering the multiple beams output by the receiving telescope 23 to convert scattered light and echo optical signals into transmission optical signals and converging the scattered light and the echo optical signals on corresponding pixels of the array single-photon detector 25, and the array single-photon detector 25 is used for receiving the scattered light and the echo optical signals of the transmission optical signals, performing photoelectric conversion and outputting transmission signal electric pulses and echo signal electric pulses to the comprehensive management and data processing unit 26; the comprehensive management and data processing unit 26 is used for controlling the single-wavelength laser 21 to emit laser pulses, the comprehensive management and data processing unit 26 is used for measuring and storing the time difference between the multi-channel emission signal electric pulses and the echo signal electric pulses, and the time difference is photoelectron point cloud data;
the integrated management and data processing unit 26 is electrically connected with the mechanism driving control unit 13, and the integrated management and data processing unit 26 is used for controlling the mechanism driving control unit 13;
the laser beam splitter 22 comprises a beam expander for compressing the divergence angle of the laser pulse and a diffraction beam splitter for splitting the laser multiline so that the laser is emitted at fixed equal interval angles; the divergence angle of the compressed light pulse is 50urad, and the output laser pulse is subjected to laser multi-line beam splitting through a diffraction beam splitter (DOE) to realize laser emission at fixed equal interval angles. The DOE mainly utilizes the diffraction characteristic of light to realize the required output optical field distribution, has the characteristics of light weight and high design freedom, and can realize laser beam splitting with high diffraction efficiency and high uniformity. The DOE beam splitting of the system is realized by 16 multiplied by 4 multi-line arrangement, and 64 beams of laser are simultaneously emitted to a ground target;
the receiving optical unit 24 includes an array coupling optical fiber and a double telecentric lens, the array coupling optical fiber is used for coupling and outputting the echo optical signals of different beams to the double telecentric lens, and the double telecentric lens receives the echo optical signals output by the array coupling optical fiber, collimates and filters the echo optical signals in a narrow band, and then converges the echo optical signals of different optical fiber channels to a photosensitive surface corresponding to the array single-photon detector 25;
the array coupling optical fiber is fixed by using a V-shaped groove, the optical fiber at the focal plane end of the receiving telescope 23 is in 16 multiplied by 4 multi-line arrangement, and the beam is split into 4 beams; the front ends of the double telecentric lenses are arranged in a 4 multiplied by 4 matrix;
the array single photon detector 25 is an avalanche photodiode array, and the photosensitive surface pixels are arranged in a multichannel rectangle; the pixel size is 80 μm, the center distance is 100 μm, the response wavelength is 900nm-1600nm, and single photon magnitude photoelectric conversion can be realized;
the integrated management and data processing unit 26 includes carry chain resources in the FPGA; the time difference measurement of 64 channels is realized, and the time difference measurement precision is 50 ps;
the multi-beam laser radar subsystem 2 emits laser pulses according to a fixed time sequence under the synchronization of the pulse per second output by the GNSS/IMU combined navigation unit 4;
the visible light imaging camera 3 performs visible light exposure according to a fixed time sequence under the synchronization of the pulse per second output by the GNSS/IMU combined navigation unit 4;
the GNSS/IMU integrated navigation unit 4 is integrally and rigidly connected with the fixed part of the first scanning mechanism 11 and the fixed part of the second scanning mechanism 12, so as to ensure the system stability and the stable relationship between the absolute pointing angle of the optical axes of the multibeam lidar and the visible light camera 3 and the measurement angle thereof in the flight measurement process, obtain the azimuth, the roll and the navigation angle of the system and the geographic coordinate information of the flight platform, and is used for the coordinate calculation and data processing of the lidar and simultaneously provide the external orientation element information of the visible light camera.
Method of use of examples 1-3: the method comprises the following steps:
as shown in fig. 3, S1, acquiring photoelectron point cloud data: the servo scanning subsystem 1 drives the multi-beam laser radar subsystem 2 to realize one-dimensional small-angle rapid swinging and scanning by taking any pitch angle in the vertical direction of the flight platform as a center, and the multi-beam laser radar subsystem 2 realizes continuous measurement along the rail direction by utilizing the motion of the flight platform and acquires photoelectron point cloud data storage and output of a target area; the photoelectron point cloud data is the time difference delta t between the emission signal electric pulse and the echo signal electric pulse of the multi-beam laser radar subsystem 2;
s2, acquiring visible light image information: the servo scanning subsystem 1 drives the visible light camera 3 to realize one-dimensional small-angle rapid swinging scanning by taking any pitch angle in the vertical direction of the flying platform as the center, and the visible light camera and the multibeam laser radar subsystem 2 cooperatively measure and acquire visible light image information of a target area to output;
s3, acquiring the pointing angle and the geographic coordinate information of the flight platform: the GNSS/IMU combined navigation unit 4 acquires the pointing angle of the servo scanning subsystem 1 and outputs the geographic coordinate information of the flight platform; the pointing angle is theta; the geographic coordinate information comprises a course angle, a pitch angle, a roll angle, a latitude coordinate B, a longitude coordinate L and an ellipsoid altitude coordinate H;
s4, coordinate calculation: the photoelectron point cloud data, the visible light image, the pointing angle and the geographic coordinate information are fused and converted into three-dimensional coordinate values of the laser ground points under a geocentric coordinate system WGS84, and the section point cloud of the scanning track is output;
as shown in fig. 4, S41, obtaining radar ranging distance: converting the time difference Δ t into a radar range (ρ): ρ ═ C × Δ t/2, where C is the speed of light transmission in the atmosphere, i.e., 299552816 m/s;
s42, obtaining coordinates under a WGS84 coordinate system: converting latitude coordinate B, longitude coordinate L and ellipsoid altitude coordinate H into coordinate [ X ] in WGS84 coordinate systemgps Ygps Zgps]T:
s43, obtaining offset and offset angle: measuring to obtain the offset [ X ] from the laser emergent point of the multi-beam laser radar subsystem 2 to the center of the antenna of the GNSS/IMU combined navigation unit 4offset Yoffset Zoffset]TAnd obtaining the offset angle of the GNSS/IMU combined navigation unit 4 and the multi-beam laser radar subsystem 2: α, β, γ;
s44, obtaining three-dimensional coordinate values under a geocentric coordinate system WGS 84: the radar distance rho, the pointing angle theta, and the coordinate [ X ] under the WGS84 coordinate systemgps Ygps Zgps]TAnd the offset angles alpha, beta, gamma are converted into three-dimensional coordinate values [ X ] under the geocentric coordinate system WGS84EYE ZE]T：
Wherein:
s5, composite imaging: carrying out point cloud denoising and filtering on the profile point cloud to obtain a linear digital elevation model, obtaining three-dimensional laser point cloud of a target area through a plurality of sections of linear digital elevation models, converting visible light image information combined with geographical coordinate information of a flight platform into a track file and an image external orientation element of a visible light camera 3, combining the track file and the image external orientation element with an original image of the visible light camera 3 to generate a digital ortho-image, and registering the three-dimensional laser point cloud and the digital ortho-image to obtain a three-dimensional image of the target area;
when the system is measured, the laser radar subsystem 2 and the visible light imaging camera 3 perform laser emission and visible light exposure according to a fixed time sequence under the synchronization of second pulses output by the GNSS/IMU combined navigation unit 4 so as to realize synchronous measurement; the fixed time sequence is that the falling edge of the output second pulse is taken as a reference, laser emits 40KHz laser pulse for measurement, and the visible light camera is exposed once every 2s to obtain a visible light image.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. The utility model provides an airborne slope laser three-dimensional measurement and compound imaging system which characterized in that: the system comprises a servo scanning subsystem (1) arranged on a flying platform, a multi-beam laser radar subsystem (2), a visible light camera (3) and a GNSS/IMU combined navigation unit (4), wherein the multi-beam laser radar subsystem and the visible light camera are respectively arranged on the servo scanning subsystem (1);
the servo scanning subsystem (1) is used for realizing one-dimensional small-angle rapid swinging and scanning by taking any pitch angle in the vertical direction of the flight platform as a center, the multibeam lidar subsystem (2) is used for driving the servo scanning subsystem (1) and realizing continuous measurement along the rail direction so as to acquire, store and output photoelectron point cloud data of a target area, and the visible light camera (3) is used for realizing the cooperative measurement with the multibeam lidar subsystem (2) by utilizing the motion of the servo scanning subsystem (1) and acquiring and outputting visible light image information of the target area; the GNSS/IMU integrated navigation unit (4) is used for acquiring the pointing angle of the servo scanning subsystem (1) and outputting geographic coordinate information of the flying platform, and the photoelectron point cloud data, the visible light image, the pointing angle and the geographic coordinate information are used for being fused into a three-dimensional image of the target area.
2. The airborne oblique laser three-dimensional measurement and composite imaging system according to claim 1, wherein: the servo scanning subsystem (1) comprises a first scanning mechanism (11), a second scanning mechanism (12) and a mechanism driving control unit (13) electrically connected with the first scanning mechanism (11) and the second scanning mechanism (12), the multibeam lidar subsystem (2) is arranged on the first scanning mechanism (11), the visible light camera (3) is arranged on the second scanning mechanism (12), the mechanism driving control unit (13) is electrically connected with the multibeam lidar subsystem (2), and the GNSS/IMU combined navigation unit (4) is integrally and rigidly connected with a fixed part of the first scanning mechanism (11) and a fixed part of the second scanning mechanism (12).
3. The airborne oblique laser three-dimensional measurement and composite imaging system according to claim 2, wherein: the multi-beam laser radar subsystem (2) comprises a multi-beam laser radar, the multi-beam laser radar comprises a single-wavelength laser (21), a laser beam splitter (22), a receiving telescope (23), a receiving optical unit (24), an array single-photon detector (25) and the comprehensive management and data processing unit (26), wherein the single-wavelength laser (21) and the array single-photon detector (25) are sequentially arranged, and the comprehensive management and data processing unit (26) is electrically connected with the single-wavelength laser (21) and the array single-photon detector (25);
the single-wavelength laser (21) is used for emitting laser pulses, the laser beam splitter (22) is used for receiving the laser pulses and splitting the laser pulses into multiple beams to be emitted to the target area, the receiving telescope (23) is used for receiving the multi-beam scattered by the target area and outputting the multi-beam, the receiving optical unit (24) is used for converging scattered light and echo light signals which are converted into emission light signals after the multi-beam output by the receiving telescope (23) is received and optically coupled, split, collimated and filtered on corresponding pixels of the array single-photon detector (25), the array single photon detector (25) is used for receiving scattered light of the emission light signal and the echo light signal, performing photoelectric conversion and outputting an emission signal electric pulse and an echo signal electric pulse to the integrated management and data processing unit (26); the integrated management and data processing unit (26) is used for controlling the single-wavelength laser (21) to emit the laser pulse, the integrated management and data processing unit (26) is used for measuring and storing the time difference between the multi-channel emission signal electric pulse and the echo signal electric pulse, and the time difference is the photoelectron point cloud data;
the integrated management and data processing unit (26) is electrically connected with the mechanism driving control unit (13), and the integrated management and data processing unit (26) is used for controlling the mechanism driving control unit (13).
4. The airborne oblique laser three-dimensional measurement and composite imaging system according to claim 3, wherein: the laser beam splitter (22) includes a beam expander for compressing the laser pulse divergence angle and a diffractive beam splitter for splitting the laser multilines such that the laser is emitted at a fixed equally spaced angle.
5. The airborne oblique laser three-dimensional measurement and composite imaging system according to claim 3, wherein: the receiving optical unit (24) comprises an array coupling optical fiber and a double telecentric lens, the array coupling optical fiber is used for coupling the echo optical signals of different beams and outputting the echo optical signals to the double telecentric lens, and the double telecentric lens receives the echo optical signals output by the array coupling optical fiber, collimates and filters narrow bands of the echo optical signals, and then converges the echo optical signals of different optical fiber channels to a photosensitive surface corresponding to the array single photon detector (25);
the array coupling optical fiber is fixed by using a V-shaped groove, and the optical fiber at the focal plane end of the receiving telescope (23) is arranged in a manner of 16 multiplied by 4 multiple wires and is split into 4 beams; the front ends of the double telecentric lenses are arranged in a 4 multiplied by 4 matrix;
the array single photon detector (25) is an avalanche photodiode array, and the photosensitive surface pixels are arranged in a multichannel rectangular mode.
6. The oblique laser three-dimensional measurement and composite imaging system according to claim 3, wherein: the integrated management and data processing unit (26) comprises carry chain resources in the FPGA.
7. The airborne oblique laser three-dimensional measurement and composite imaging system according to claim 1, wherein:
the multi-beam laser radar subsystem (2) transmits the laser pulse according to a fixed time sequence under the synchronization of the pulse per second output by the GNSS/IMU combined navigation unit (4);
and the visible light imaging camera (3) performs visible light exposure according to a fixed time sequence under the synchronization of the pulse per second output by the GNSS/IMU combined navigation unit (4).
8. The use method of the airborne oblique laser three-dimensional measurement and composite imaging system is characterized by comprising the following steps: the method comprises the following steps:
s1, acquiring photoelectron point cloud data: the servo scanning subsystem (1) drives the multi-beam laser radar subsystem (2) to realize one-dimensional small-angle rapid swinging and scanning by taking any pitch angle in the vertical direction of the flight platform as a center, and the multi-beam laser radar subsystem (2) realizes continuous measurement along the rail direction by utilizing the motion of the flight platform and acquires photoelectron point cloud data storage and output of a target area;
s2, acquiring visible light image information: the servo scanning subsystem (1) drives the visible light camera (3) to realize one-dimensional small-angle rapid swinging and scanning by taking any pitch angle in the flying vertical direction of the flying platform as the center, and the servo scanning subsystem and the multi-beam laser radar subsystem (2) cooperatively measure and acquire visible light image information of the target area to output;
s3, acquiring the pointing angle and the geographic coordinate information of the flight platform: a GNSS/IMU integrated navigation unit (4) acquires the pointing angle of the servo scanning subsystem (1) and outputs the geographic coordinate information of the flying platform;
s4, coordinate calculation: fusing and converting the photoelectron point cloud data, the visible light image, the pointing angle and the geographic coordinate information into a three-dimensional coordinate value of a laser ground point under a geocentric coordinate system WGS84, and outputting a section point cloud of a scanning track;
s5, composite imaging: carrying out point cloud denoising and filtering on the profile point cloud to obtain a linear digital elevation model, obtaining three-dimensional laser point cloud of a target area through a plurality of sections of linear digital elevation models, converting visible light image information into a track file and an image external orientation element of the visible light camera (3) by combining with the geographic coordinate information of the flight platform, combining with an original image of the visible light camera (3) to generate a digital orthographic image, and registering the three-dimensional laser point cloud and the digital orthographic image to obtain a three-dimensional image of the target area.
9. The use method of the airborne oblique laser three-dimensional measurement and composite imaging system according to claim 8, characterized in that:
in step S1, the photoelectron point cloud data is a time difference Δ t between the emission signal electric pulse and the echo signal electric pulse of the multi-beam lidar subsystem (2);
in step S3, the pointing angle is θ;
in step S3, the geographic coordinate information includes a heading angle, a pitch angle, a roll angle, a latitude coordinate B, a longitude coordinate L, and an ellipsoid height coordinate H.
10. The use method of the airborne oblique laser three-dimensional measurement and composite imaging system according to claim 9, characterized in that: step S4 includes:
s41, obtaining radar ranging distance: converting the time difference Δ t into a radar range distance (ρ): ρ ═ C × Δ t/2, where C is the speed of light transmission in the atmosphere, i.e., 299552816 m/s;
s42, obtaining coordinates under a WGS84 coordinate system: converting the latitude coordinate B, the longitude coordinate L and the ellipsoid height coordinate H into a coordinate [ X ] in a WGS84 coordinate systemgps Ygps Zgps]T:
s43, obtaining offset and offset angle: measuring the offset [ X ] from the laser emergent point of the multi-beam laser radar subsystem (2) to the center of the antenna of the GNSS/IMU combined navigation unit (4)offset Yoffset Zoffset]T-deriving an offset angle of the GNSS/IMU combined navigation unit (4) and the multi-beam lidar subsystem (2): α, β, γ;
s44, obtaining three-dimensional coordinate values under a geocentric coordinate system WGS 84: the radar ranging distance rho, the pointing angle theta, and a coordinate [ X ] in the WGS84 coordinate systemgps Ygps Zgps]TAnd the offset angles alpha, beta, gamma are converted into three-dimensional coordinate values [ X ] under the geocentric coordinate system WGS84E YE ZE]T：
Wherein:
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