Field data collection equipment precision checking method, field data collection equipment precision checking apparatus, collection vehicle and field collection system

Abstract

The invention discloses a field data collection equipment precision checking method, a field data collection equipment precision checking apparatus, a collection vehicle and a field collection system.The field data collection equipment precision checking method comprises: carrying out at least two effective repeated data collection on ground objects in a pre-selected checking area, and obtainingbase station GPS data during the repeated collection; by combining with the base station GPS data, carrying out trajectory calculation on the data obtained by repeated collection to obtain the precisetrajectory data of the laser scanning data so as to obtain the laser point cloud data in a WGS84 three-dimensional coordinate system; carrying out point cloud ICP precise registration to obtain a registration error, determining whether the registration error exceeds a limit, ending the current task when the registration error exceeds the limit, and outputting precision over-limit prompt; and if the registration error does not exceed the limit, outputting collection task starting prompt. With the method and the apparatus of the present invention, whether the external calibration precision of the laser scanner of the collection vehicle meets the data collection requirements can be rapidly and effectively evaluated before each field collection task begins.

Description

technical field [0001] The invention relates to the field of map data collection, in particular to a field data collection equipment accuracy check method and device, a collection vehicle and a field collection system. Background technique [0002] Autonomous driving maps are an indispensable and important supporting technology for autonomous driving, and field data collection relying on multi-sensor integrated mobile acquisition vehicles is the core channel for autonomous driving map data acquisition and one of the important links in its map production. With the rapid development of autonomous driving technology, high-precision maps are required to mature quickly to provide more accurate and vivid map data. [0003] In the actual collection operation, the system calibration parameters of the laser scanner, panoramic camera and other measurement sensors integrated in the mobile collection vehicle will change during the field collection process, and system calibration needs t...

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Problems solved by technology

[0005] However, the inventors of the present invention found that: the existing method of checking the accuracy of the external calibration of the laser scanner of the acquisition vehicle by relying on the three-dimensional control field needs to lay out three-dimensional control points on the ground, and manually extract the control point targets in the scanning laser point cloud. Its flexibility is poor

At the same time, due to the large consumption of manpower and material resources caused by the layout of three-dimensional control points, this calibration accuracy calibration method is also poor in implementability and timeliness, and can only be used for a long period of time to calibrate the accuracy outside the laser scanner of the acquisition vehicle. Inspection, unable to guarantee the accuracy of field data collection of high-precision maps for autonomous driving

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