Geometry correction method for vehicle-mounted scanning point cloud in tunnel GNSS denied environment

Abstract

The invention belongs to the field of laser scanning surveying and mapping, and provides a geometric correction method for vehicle-mounted scanning point clouds in a tunnel GNSS-denied environment, which can solve the problem of point cloud geometric correction of non-rigid body deformation in the tunnel area, thereby meeting the demand for high-precision point cloud collection . In the present invention, firstly, the targets are arranged in groups along the extension direction of the tunnel; secondly, the point cloud data is obtained through the surveying and mapping of the vehicle-mounted scanning system, and the calibration point coordinates of each target are obtained through actual measurement; thirdly, the point cloud data obtained from the vehicle-mounted scanning system Extract the three-dimensional coordinates of the same name point corresponding to the target; then, calculate the conversion parameters between the measured target coordinates and the point cloud target coordinates in groups, correct the vehicle-mounted scanning system trajectory position corresponding to each group of targets, and in other to-be-corrected The trajectory area complements the trajectory of the mobile measurement system by interpolation method; finally, the accurate trajectory of the corrected mobile measurement system is recalculated 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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