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A point cloud data processing method with variable scanning frequency

A technology of scanning frequency and point cloud data, which is applied in cross-section drawing, re-radiation of electromagnetic waves, measuring distance, etc., can solve the problems of difficult to obtain accurate terrain data and low accuracy of ranging value, and achieve accurate distance data and point The effect of high cloud density and solving the multi-period problem of receiving time

Active Publication Date: 2021-07-13
广东电网有限责任公司机巡作业中心
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  • Abstract
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Problems solved by technology

However, before using lidar for measurement, it is difficult to obtain accurate terrain data, so the accuracy of the final ranging value is also low

Method used

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  • A point cloud data processing method with variable scanning frequency

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Embodiment Construction

[0017] The present invention will be further described below with reference to the drawings, and it is to be desirable, and the accompanying drawings are for exemplary descriptions, which cannot be understood as limiting this patent.

[0018] Such as figure 1 As shown, a dot cloud data processing method of a variable scanning frequency is made by laser radar for point cloud acquisition, including the following steps:

[0019] S1: Set two sets of transmitted data different from the laser radar, wherein the laser light transmitted by the first set of transmitted data can return to the laser radar within one cycle, and the transmit frequency of the second set of transmitted data is the desired maximum transmitting. frequency;

[0020] S2: On the basis of step S1, the laser radar periodically switches the two sets of data for laser emission, thereby performing point cloud acquisition;

[0021] S3: The data collected by step S2 is processed, first using the point cloud data transmitted...

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Abstract

The present invention relates to the technical field of space ranging, and more specifically, to a point cloud data processing method with variable scanning frequency. By setting two sets of emission data with different emission frequencies, the lidar periodically switches between the two sets of data for laser emission. The first set of emission data is used to obtain accurate terrain information in the measurement area, and the second set of emission data is used to calculate the emission data based on the terrain information. Reasonable return period of each laser emission point, thereby obtaining accurate distance information, solves the multi-period problem of laser receiving time in the prior art; in addition, the second group of emission frequencies in the present invention can be set independently according to needs, which is relatively The point cloud density obtained by high transmission frequency is higher, and the distance data measured in the measurement area is more accurate.

Description

Technical field [0001] The present invention relates to the field of spatial ranging technology, and more particularly to a point cloud data processing method of a variable scan frequency. Background technique [0002] Laser radar is a device using laser measurement distance, restoring multiple measurement points to spatial coordinates, and ultimately realizes the space restore of the peripheral environment. The laser is transmitted to the reception time, determines the accuracy of the measurement, the number of laser lights transmitted within the unit time, determines the data density in the point cloud. In the process of measurement of the ground distance by the aircraft using laser radar, there is a multi-cycle problem due to the distance from the distance. [0003] The laser radar transmits a laser in a given cycle, and the transmission point P1 at the time of T1 is taken at T1. If the laser return transmitter is in the period T, the ranging value at this time is [radius acco...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S17/48G01C7/02
CPCG01C7/02G01S17/48
Inventor 许志海王年孝陈浩
Owner 广东电网有限责任公司机巡作业中心