Geometric correction method for vehicle-mounted scanning point cloud in tunnel GNSS denial environment

Abstract

The invention belongs to the field of laser scanning surveying and mapping, and provides a geometric correction method for a vehicle-mounted scanning point cloud in a tunnel GNSS denial environment, which can solve the problem of geometric correction of the point cloud of non-rigid body deformation in a tunnel area, thereby meeting the requirement of high-precision point cloud acquisition. The method comprises the following steps: firstly, arranging targets in groups along a tunnel extension direction; secondly, obtaining point cloud data through surveying and mapping of a vehicle-mounted scanning system, and obtaining calibration point coordinates of each target through actual measurement; thirdly, extracting three-dimensional coordinates of homonymy points of the corresponding targets from the point cloud data obtained by the vehicle-mounted scanning system; then, calculating conversion parameters between actual measurement target coordinates and point cloud target coordinates in groups, correcting track positions of the vehicle-mounted scanning system corresponding to each group of targets, and complementing tracks of the mobile measurement system in other track areas to be corrected through adoption of an interpolation method; and finally, re-resolving by using the corrected accurate track of the mobile measurement system to obtain high-precision long tunnel point cloud data.

Description

technical field [0001] The invention belongs to the field of laser scanning surveying and mapping, and in particular relates to a geometric correction method for vehicle-mounted scanning point clouds in a tunnel GNSS-denied environment. Background technique [0002] With the development of vehicle-mounted mobile 3D laser measurement systems, this technology, as a way of acquiring geospatial data, has become the main data source for 3D point cloud data acquisition in large scenes. It plays a vital role in the field of application, and has great potential in highway planning management, operation and maintenance, digital modeling and asset element extraction. [0003] However, the point cloud data acquisition accuracy of this technology depends on a good continuous GNSS signal. The GNSS is the abbreviation of Global Navigation Satellite System, and the full Chinese name is Global Navigation Satellite System. Therefore, in the surveying and mapping of long tunnels with a lengt...

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is to provide a geometric correction method for vehicle-mounted scanning point clouds in a tunnel GNSS-denied environment, which can effectively solve: in tunnel surveying and mapping, especially in long tunnel surveying and mapping, due to the lack of GNSS signals in the surveying and mapping process The resulting non-rigid body deformation of the collected point cloud data

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