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Unmanned aerial vehicle laser point cloud efficient acquisition and processing method

A laser point cloud, high-efficiency acquisition technology, applied in image data processing, computer parts, radio wave measurement systems, etc. Easy to collect and easy to operate

Active Publication Date: 2021-11-12
GUANGZHOU POWER SUPPLY BUREAU GUANGDONG POWER GRID CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a method for efficient collection and processing of UAV laser point cloud, to at least solve the data collection process and segmentation proposed in the prior art, and the efficiency High cost, not suitable for large-scale collection needs

Method used

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  • Unmanned aerial vehicle laser point cloud efficient acquisition and processing method

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Embodiment 1

[0035] see figure 1 , the present invention provides a technical solution: a method for efficiently collecting and processing UAV laser point clouds, including:

[0036] S1. UAV equipment equipped with laser scanner, GNSS high-precision positioning system, MEMS inertial navigation system, IMU system, high-speed data acquisition and storage system and full-frame camera is used to fly according to the preset regional orbit, and do route planning to quickly obtain High-precision point cloud data to ensure the accuracy and comprehensiveness of the data;

[0037] S2. Through synchronously acquired 3D high-precision laser radar data and imaging technology, 3D high-precision laser point cloud and orthophoto image registration algorithm, the precise exposure time position and attitude information of the orthographic image is obtained, and the rapid acquisition and integration of DOM results is completed. Accuracy registration, realizing the accuracy of visible light data without cont...

Embodiment 2

[0049] This embodiment is further optimized on the basis of Embodiment 1. Under the condition of uncertainties in the system model and noise statistical characteristics, the application of Kalman filtering is subject to some restrictions, and H∞ filtering can be used to effectively To solve the problems encountered by Kalman filtering, H∞ filtering has high estimation accuracy and robustness. When the noise is colored noise with unknown statistical characteristics or the system has uncertainty, the filtering result of H∞ filter is higher than that of As a result of Kalman filtering, the filtering results of the H∞ filter have high stability, and the filtering effect has always been very good. At this time, the performance of the H∞ filter with good robustness is significantly better than that of the Kalman filter, which further improves the accuracy of the data. Accuracy is close to the actual numerical parameters. The other parts of this embodiment are the same as those of Emb...

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Abstract

The invention discloses an unmanned aerial vehicle laser point cloud efficient acquisition and processing method, and the method comprises the steps: employing an unmanned aerial vehicle device carrying a laser scanner, a GNSS high-precision positioning system, an MEMS inertial navigation system, an IMU system, a high-speed data acquisition and storage system and a full-frame camera to fly according to a preset region orbit, carrying out the route planning, and rapidly obtaining high-precision point cloud data, through synchronously acquired three-dimensional high-precision laser radar data and imaging technology and a three-dimensional high-precision laser point cloud and orthoimage registration algorithm, accurate exposure moment position attitude information of an orthoimage is acquired, and rapid acquisition and precision registration of a DOM result are completed. According to the unmanned aerial vehicle laser point cloud efficient acquisition and processing method, the whole point cloud acquisition and processing process is opened through a programmed process, and the method is suitable for mountainous area operation; meanwhile, based on a Beidou satellite navigation system and a CORS network, a reference station-free function is supported, and rapid acquisition of true color three-dimensional point cloud data integrating functions of acquisition, processing, color assignment, transmission, browsing and the like is realized.

Description

technical field [0001] The invention relates to the technical field of data acquisition, in particular to an efficient acquisition and processing method for laser point clouds of unmanned aerial vehicles. Background technique [0002] Scanning data is recorded in the form of points, each point contains three-dimensional coordinates, some may contain color information or reflection intensity information; point cloud data not only has geometric position, but also some color information, color information is usually obtained through the camera Image, and then assign the color information of the pixel at the corresponding position to the corresponding point in the point cloud. The acquisition of intensity information is the echo intensity collected by the laser scanner receiving device. This intensity information is related to the surface material, roughness, and incident angle of the target. The direction, and the emission energy of the instrument are related to the laser wavel...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G06T7/30G06T7/70G06K9/62G01S17/86G01C21/16G01S19/47
CPCG06T7/001G06T7/0006G06T7/30G06T7/70G01S17/86G01C21/165G01S19/47G06T2207/10024G06T2207/10028G06F18/24G06F18/25
Inventor 毕超豪邹伟煜邓烨恒宋长青曾耀强
Owner GUANGZHOU POWER SUPPLY BUREAU GUANGDONG POWER GRID CO LTD
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