CN113933861B - Airborne laser radar point cloud generation method and system - Google Patents
Airborne laser radar point cloud generation method and system Download PDFInfo
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- CN113933861B CN113933861B CN202111336888.2A CN202111336888A CN113933861B CN 113933861 B CN113933861 B CN 113933861B CN 202111336888 A CN202111336888 A CN 202111336888A CN 113933861 B CN113933861 B CN 113933861B
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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
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
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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
- G01S19/40—Correcting position, velocity or attitude
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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Abstract
The invention relates to an airborne laser radar point cloud generating method and system, in particular to an airborne laser radar point cloud generating method and system, which are used for acquiring first position information of a current period by combining GNSS data and IMU data in the current calculation period and optimized first position information in a previous calculation period, acquiring second position information by matching laser radar data with a local map, performing fusion filtering on latest first position information and latest second position information in the current filtering period, acquiring third position information and position information errors corresponding to the current filtering period, and performing spatial transformation on the third position information and the second position information to acquire point cloud data in the current filtering period.
Description
Technical Field
The invention relates to an airborne laser radar, in particular to a point cloud generating method and system of the airborne laser radar.
Background
The airborne lidar system comprises three large sensor devices: the system comprises a GNSS unit, an IMU unit and a laser radar, wherein the GNSS unit is used for determining the position information of a laser emission point; the IMU unit is used for measuring the attitude information of laser at the moment of laser emission; the laser radar device takes pulse laser ranging as a main technical means, measures the distance from a sensor to a laser irradiation point of a ground object in a laser beam scanning working mode, and can obtain information such as reflectivity, laser pulse echo times and the like. At present, the specific process of point cloud generation of an airborne laser radar system is as follows: the GNSS unit is fused with an IMU system by using an RTK technology to form a combined navigation system, and the pose information is calculated; based on the pose information calculated by the integrated navigation system, the three-dimensional coordinates of the laser foot points, namely a series of discrete three-dimensional point cloud data with irregular spatial distribution, under the local horizontal coordinate system are obtained through a series of spatial transformation by combining the laser point distance information acquired by the laser radar system, and the laser foot points refer to the light points of the laser falling on the surface of an object.
The whole point cloud generating process is a linear process, namely the point cloud is formed completely based on the pose information calculated by the integrated navigation system, and if the pose information error calculated by the integrated navigation system is too large, the point cloud precision is sharply reduced, so that the prior art has the following problems: 1. if the satellite signals are shielded and RTK calculation cannot be carried out, point cloud information cannot be generated; 2. if the satellite information is weakened or the IMU precision is reduced due to environmental factors, and the position and attitude information error calculated by the integrated navigation is large, the point cloud precision is reduced.
Disclosure of Invention
The technical problems solved by the invention are as follows: the airborne laser radar point cloud generating method and system are provided, and the problem that the accuracy of point cloud data generated by the existing airborne laser radar is greatly influenced by satellite signals and environmental factors is solved.
The invention adopts the technical scheme for solving the technical problems that: the airborne laser radar point cloud generation method comprises the following steps:
s01, acquiring GNSS data and IMU data in the current calculation period as first data;
s02, obtaining first attitude information of the carrier in the current calculation period according to the first data and the optimized first attitude information in the previous calculation period;
s03, acquiring laser radar data in the current scanning period as second data, and matching the second data with the latest local map to acquire second position and attitude information of the carrier in the current scanning period;
s04, performing fusion filtering on the latest first posture information and the latest second posture information in the current filtering period to obtain third posture information and posture information errors corresponding to the current filtering period;
s05, optimizing the first pose information of the current calculation period according to the latest pose information error to obtain the optimized first pose information in the current calculation period;
and S06, performing spatial transformation on the third pose information and the second data to obtain point cloud data in the current filtering period, and generating a local map according to the point cloud data in a plurality of filtering periods.
Further, the pose information includes carrier attitude and position information.
Further, in step S03, the second data and the local map are matched by using an NDT matching technique.
Further, in step S04, the fusion filtering employs a kalman filtering algorithm.
Further, in step S06, the multiple filtering cycles are consecutive N filtering cycles before the current filtering cycle, where N is a preset positive integer.
The airborne laser radar system comprises an integrated navigation module, a point cloud data generation module, a laser radar unit and a filtering unit, wherein the integrated navigation module comprises a GNSS unit and an IMU unit;
the combined navigation module acquires data acquired by a GNSS unit and an IMU unit in a current calculation period as first data, calculates and acquires first attitude information of a carrier in the current calculation period according to the first data and the optimized first attitude information in the previous calculation period, sends the first attitude information to a filtering unit, receives attitude information errors fed back by the filtering unit, and optimizes the first attitude information in the current calculation period according to the latest attitude information errors fed back by the filtering unit to acquire the optimized first attitude information in the current calculation period;
the laser radar unit acquires laser radar data in the current scanning period as second data, matches the second data with the latest local map to acquire second attitude information of the carrier in the current scanning period, sends the second data to the point cloud data generation module, and sends the second attitude information to the filtering unit;
the filtering unit performs fusion filtering on the latest first pose information and the latest second pose information in the current filtering period to obtain third pose information and pose information errors corresponding to the current filtering period, sends the third pose information to the point cloud data generating module, and sends the pose information errors to the combined navigation module;
and the point cloud data generation module performs spatial transformation on the third pose information and the second data to obtain point cloud data in a current filtering period, generates a local map according to the point cloud data in a plurality of filtering periods, and sends the local map to the laser radar unit.
Further, the pose information includes carrier attitude and position information.
Further, the lidar unit matches the second data with the latest local map by using an NDT matching technique.
Further, the filtering unit adopts a kalman filtering algorithm.
Further, the multiple filtering cycles are N consecutive filtering cycles before the current filtering cycle, where N is a preset positive integer.
The invention has the beneficial effects that: the invention relates to a method and a system for generating point cloud of an airborne laser radar, which are used for acquiring first attitude information of a current period by GNSS data and IMU data in the current calculation period and combining the optimized first attitude information in the previous calculation period, acquiring second attitude information by matching laser radar data with a local map, fusing and filtering the latest first attitude information and the latest second attitude information in the current filtering period to acquire third attitude information and attitude information errors corresponding to the current filtering period, performing spatial transformation on the third attitude information and the second attitude data to acquire point cloud data in the current filtering period, and generating the local map according to the point cloud data in a plurality of filtering periods, thereby solving the problem that the accuracy of the point cloud data generated by the airborne laser radar is greatly influenced by satellite signals and environmental factors. Compared with the prior art, the method and the device optimize the first position and orientation information by using the position and orientation information error, and match the local map with the laser radar data, thereby reducing the influence of satellite signals and environmental factors on the point cloud data and improving the precision of the point cloud data.
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FIG. 1 is a schematic method flow diagram of the airborne laser radar point cloud generation method and system of the invention.
Detailed Description
The airborne laser radar point cloud generation method disclosed by the invention is as shown in the attached figure 1, and comprises the following steps of:
s01, acquiring GNSS data and IMU data in the current calculation period as first data;
s02, obtaining first attitude information of the carrier in the current calculation period according to the first data and the optimized first attitude information in the previous calculation period;
specifically, the pose information includes carrier pose and position information.
S03, acquiring laser radar data in the current scanning period as second data, and matching the second data with the latest local map to acquire second position and attitude information of the carrier in the current scanning period;
specifically, the second data and the local map are matched by using an NDT matching technology.
S04, performing fusion filtering on the latest first posture information and the latest second posture information in the current filtering period to obtain third posture information and posture information errors corresponding to the current filtering period;
specifically, the fusion filtering adopts a kalman filtering algorithm.
S05, optimizing the first pose information of the current calculation period according to the latest pose information error to obtain the optimized first pose information in the current calculation period;
and S06, performing spatial transformation on the third pose information and the second data to obtain point cloud data in the current filtering period, and generating a local map according to the point cloud data in a plurality of filtering periods.
Specifically, the multiple filtering cycles are N consecutive filtering cycles before the current filtering cycle, where N is a preset positive integer.
The airborne laser radar system comprises an integrated navigation module, a point cloud data generation module, a laser radar unit and a filtering unit, wherein the integrated navigation module comprises a GNSS unit and an IMU unit;
the combined navigation module acquires data acquired by a GNSS unit and an IMU unit in a current calculation period as first data, calculates and acquires first attitude information of a carrier in the current calculation period according to the first data and the optimized first attitude information in the previous calculation period, sends the first attitude information to a filtering unit, receives attitude information errors fed back by the filtering unit, and optimizes the first attitude information in the current calculation period according to the latest attitude information errors fed back by the filtering unit to acquire the optimized first attitude information in the current calculation period;
specifically, the pose information includes carrier pose and position information.
The laser radar unit acquires laser radar data in the current scanning period as second data, matches the second data with the latest local map to acquire second attitude information of the carrier in the current scanning period, sends the second data to the point cloud data generation module, and sends the second attitude information to the filtering unit;
specifically, the second data and the latest local map are matched by using an NDT matching technology.
The filtering unit performs fusion filtering on the latest first pose information and the latest second pose information in the current filtering period to obtain third pose information and pose information errors corresponding to the current filtering period, sends the third pose information to the point cloud data generating module, and sends the pose information errors to the combined navigation module;
specifically, the filtering unit adopts a kalman filtering algorithm.
And the point cloud data generation module performs spatial transformation on the third pose information and the second data to obtain point cloud data in a current filtering period, generates a local map according to the point cloud data in a plurality of filtering periods, and sends the local map to the laser radar unit.
Specifically, the multiple filtering cycles are N consecutive filtering cycles before the current filtering cycle, and N is a preset positive integer.
All periods in the invention are further explained, the calculation period is the time for the combined navigation module to calculate the pose information once, the scanning period is the time for the laser radar unit to scan for one or more weeks, and the filtering period is the interval time for generating the point cloud data.
Claims (8)
1. The airborne laser radar point cloud generation method is characterized by comprising the following steps:
s01, acquiring GNSS data and IMU data in the current calculation period as first data;
s02, obtaining first attitude information of the carrier in the current calculation period according to the first data and the optimized first attitude information in the previous calculation period;
s03, acquiring laser radar data in the current scanning period as second data, and performing NDT matching on the second data and the latest local map to acquire second attitude information of the carrier in the current scanning period;
s04, performing fusion filtering on the latest first posture information and the latest second posture information in the current filtering period to obtain third posture information and posture information errors corresponding to the current filtering period;
s05, optimizing the first pose information of the current calculation period according to the latest pose information error to obtain the optimized first pose information in the current calculation period;
and S06, performing spatial transformation on the third pose information and the second data to obtain point cloud data in the current filtering period, and generating a local map according to the point cloud data in a plurality of filtering periods.
2. The airborne lidar point cloud generation method of claim 1, wherein the pose information comprises carrier pose and position information.
3. The airborne lidar point cloud generation method according to claim 1 or 2, wherein in step S04, the fusion filtering employs a kalman filtering algorithm.
4. The method for generating the airborne lidar point cloud according to claim 1 or 2, wherein in step S06, the plurality of filtering cycles are N consecutive filtering cycles before a current filtering cycle, and N is a preset positive integer.
5. The airborne laser radar system is applied to the airborne laser radar point cloud generation method of claim 1, and is characterized by comprising a combined navigation module, a point cloud data generation module, a laser radar unit and a filtering unit, wherein the combined navigation module comprises a GNSS unit and an IMU unit;
the combined navigation module acquires data acquired by a GNSS unit and an IMU unit in a current calculation period as first data, calculates and acquires first attitude information of a carrier in the current calculation period according to the first data and the optimized first attitude information in the previous calculation period, sends the first attitude information to a filtering unit, receives attitude information errors fed back by the filtering unit, and optimizes the first attitude information in the current calculation period according to the latest attitude information errors fed back by the filtering unit to acquire the optimized first attitude information in the current calculation period;
the laser radar unit acquires laser radar data in a current scanning period as second data, NDT matching is carried out on the second data and a latest local map to acquire second attitude information of a carrier in the current scanning period, the second data is sent to a point cloud data generation module, and the second attitude information is sent to a filtering unit;
the filtering unit performs fusion filtering on the latest first pose information and the latest second pose information in the current filtering period to obtain third pose information and pose information errors corresponding to the current filtering period, sends the third pose information to the point cloud data generating module, and sends the pose information errors to the combined navigation module;
and the point cloud data generation module performs spatial transformation on the third pose information and the second data to obtain point cloud data in a current filtering period, generates a local map according to the point cloud data in a plurality of filtering periods, and sends the local map to the laser radar unit.
6. The airborne lidar system of claim 5, wherein the pose information comprises carrier attitude and position information.
7. The airborne lidar system of claim 5 or 6, wherein the filtering unit employs a kalman filtering algorithm.
8. The airborne lidar system of claim 5 or 6, wherein the plurality of filter periods is N consecutive filter periods before a current filter period, wherein N is a preset positive integer.
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