Non-contact laser measurement equipment and method

Abstract

The invention provides non-contact laser measurement equipment and a non-contact laser measurement method, relates to the technical field of surveying and mapping, and solves the defect that a measured point which cannot be directly contacted by a host or a centering rod is difficult to effectively measure in the prior art. Non-contact high-precision laser irradiation point coordinate calculation can be realized; secondly, confidence degree information of coordinates is calculated, so that the confidence degree of a measurement result is judged; in addition, the measurement credibility can be dynamically adjusted through historical data, so that the method can adapt to the change of a complex environment, and the measurement precision and robustness are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of surveying technology, and more particularly, to a non-contact laser measuring device and method. BACKGROUND

[0002] In traditional global navigation satellite system (GNSS) measurement, the physical center point of the main machine or the centering rod usually needs to be directly placed on the measured target point. This method not only directly obtains the accurate three-dimensional coordinates of the target point, but also realizes the tilt measurement within a certain range by combining the inertial navigation sensor (INS).

[0003] However, the prior art has a significant limitation. For the measured points that are difficult to directly contact or physically reach the main machine or the centering rod, the traditional GNSS measurement method often cannot implement effective measurement. For example, if the measured point is located in a dangerous area (such as near high-voltage lines, the edge of a deep pit, dangerous building structures), the center of a water body, etc., the traditional GNSS measurement method cannot effectively measure. This limitation greatly limits the application of GNSS technology in a wider range of scenarios, and has become a technical bottleneck that needs to be solved. SUMMARY

[0004] To overcome the above-mentioned defects of the prior art that the measured points that cannot be directly contacted by the main machine or the centering rod cannot be effectively measured, the present application provides a non-contact laser measuring device and method, which can realize non-contact high-precision laser irradiation point coordinate calculation.

[0005] To solve the above technical problems, the technical solutions of the present application are as follows: A non-contact laser measuring device, comprising: a GNSS module, an IMU module, a laser ranging module, and a data processing module; The GNSS module is configured to obtain a GNSS positioning result of the device, and first state information; The IMU module is configured to obtain attitude information, attitude confidence, and second state information of the device; The laser ranging module is configured to emit laser to a measured point, and obtain a distance measurement value from the device to the measured point, and third state information; The GNSS module, the IMU module, and the laser ranging module are respectively electrically connected with the data processing module, and the data processing module is configured to: Based on the pre-calibrated coordinate system conversion parameters, the GNSS positioning result and the IMU attitude information are data fused to calculate the coordinates of the laser emission point and the attitude information of the laser ranging module, and further combined with the distance measurement value to calculate the coordinates of the measured point; Based on the GNSS positioning result of the device, the first state information, the attitude information of the device, the attitude confidence, the second state information, the distance measurement value and the third state information, the confidence of the coordinates of the measured point is calculated; the coordinates of the measured point and the confidence are jointly saved as a measurement result, and the measurement is completed.

[0006] Preferably, the device further comprises a power supply module electrically connected with the GNSS module, the IMU module, the laser ranging module and the data processing module respectively; the power supply module is used for supplying power for the device.

[0007] The application further provides a non-contact laser measurement method based on the above device, comprising the following steps: S1: obtaining pre-calibrated coordinate system conversion parameters, including the relative rotation and displacement relationship between the IMU module and the GNSS module, and the relative rotation and displacement relationship between the GNSS module and the laser ranging module; S2: collecting the GNSS positioning result of the device, the first state information, the attitude information of the device, the attitude confidence, the second state information, the distance measurement value and the third state information in real time, and jointly saving them as multi-source data; S3: based on the coordinate system conversion parameters, performing data fusion on the GNSS positioning result and the IMU attitude information, and calculating the coordinates of the laser emitting point and the attitude information of the laser ranging module; S4: calculating the coordinates of the measured point according to the coordinates of the laser emitting point, the attitude information of the laser ranging module and the distance measurement value; S5: based on the current multi-source data and the self-consistency of the current multi-source data and historical multi-source data, calculating the confidence of the coordinates of the measured point; S6: jointly saving the coordinates of the measured point and the confidence as a measurement result, and completing the measurement.

[0008] Preferably, in the step S1, the relative rotation and displacement relationship between the IMU module and the GNSS module is respectively represented as a first quaternion Q i2b and a first three-dimensional vector T i2b , wherein the first quaternion Q i2b represents the fixed rotation relationship of the IMU module coordinate system C imu to the GNSS module coordinate system C body ; the first three-dimensional vector T i2b represents the displacement of the origin of the IMU module coordinate system C imu in the GNSS module coordinate system C body . The relative rotation and displacement relationship between the GNSS module and the laser ranging module is respectively represented as a second quaternion Q b2land a second three-dimensional vector T b2l wherein the second quaternion Q b2l represents a fixed rotational relationship between the GNSS module coordinate system C body and the laser ranging module coordinate system C laser ; the second three-dimensional vector T b2l represents a displacement of the origin of the GNSS module coordinate system C body in the laser ranging module coordinate system C laser .

[0009] Preferably, in the step S2, at the time t i , the GNSS positioning result of the device is represented as P GNSS (t i ), the first state information is represented as S GNSS (t i ), the attitude information of the device is represented as A IMU (ti), the second state information is represented as S IMU (ti), the attitude confidence is represented as σ IMU (t i ), the distance measurement value is represented as D laser (t i ), and the third state information is represented as S laser (t i ).

[0010] Preferably, in the step S3, the coordinates of the laser emitting point and the attitude information of the laser ranging module are calculated according to the following formula: P laser (t i )=P GNSS (t i )+Q g2b (t i )·T i2b +Q g2l (t i )·T b2l

[0011]

[0012] wherein P laser (t i ) represents the coordinates of the laser emitting point at the time t i ; Q g2b represents the rotational quaternion between the GNSS module C body and the local navigation system; Q g2i =A IMU (t i ) represents the IMU module coordinate system C imuRotational quaternion with the local navigation system; Q g2l (t i ) represents the coordinate system C of the laser ranging module. laser Rotational quaternions between the system and the local navigation system; Represents quaternion multiplication; Rotate quaternion Q g2l (t i The attitude information of the laser ranging module is saved.

[0013] Preferably, in step S4, the coordinates of the measured point are calculated according to the following formula: P target (t i )=P laser (t i )+D laser (t i )·Q g2l (t i )·[1,0,0] T Among them, P target (t i () indicates time The coordinates of the measured point; T represents matrix transpose.

[0014] Preferably, in step S5, the confidence level of the coordinates of the measured point is calculated according to the following formula:

[0015] Wherein, C(t) i () indicates time Confidence level of the coordinates of the measured point; This represents the preset fusion function; This indicates the self-consistency between current multi-source data and historical multi-source data.

[0016] Preferably, the preset fusion function Specifically, it can be any one or more of the following: weighted average function, minimum value function, exponential function, and logarithmic function; The consistency between the current multi-source data and historical multi-source data is determined by calculating the coordinate variance of points within a certain range around the measured point. .

[0017] Preferably, the method further includes: when the confidence level of the coordinates of the measured point is lower than a preset confidence level threshold, re-execute steps S1 to S6 several times to obtain multiple measurement results, and further use a nonlinear optimization method to obtain the optimal measurement result; The nonlinear optimization method includes at least one of the following: nonlinear least squares method, gradient descent method, and Gauss-Newton method.

[0018] Compared with the prior art, the beneficial effects of the technical scheme of the present application are: The present application provides a kind of non-contact laser measuring equipment and method, through the data fusion of GNSS module, IMU module and laser ranging module, non-contact high-precision laser irradiation point coordinate solution can be realized;Second, the present application also calculates the confidence information of coordinate, to judge the credibility of measurement result;In addition, the present application can also dynamically adjust the measurement credibility through historical data, so as to adapt to the change of complex environment, improve the precision and robustness of measurement. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a kind of non-contact laser measuring equipment framework provided in embodiment 1.

[0020] Figure 2 It is a kind of non-contact laser measuring method flow chart provided in embodiment 2. DETAILED DESCRIPTION

[0021] The drawings are only used for illustrative description, and cannot be understood as the limitation of the present application; In order to better illustrate the present embodiment, some components in the drawings can be omitted, enlarged or reduced, and do not represent the size of actual product; For those skilled in the art, it is understandable that some well-known structures in the drawings and their descriptions can be omitted.

[0022] The technical scheme of the present application will be further described below in combination with the drawings and embodiments.

[0023] Embodiment 1 As shown in Figure 1 The present embodiment provides a kind of non-contact laser measuring equipment, comprising: GNSS module, IMU module, laser ranging module, data processing module and power supply module; The GNSS module is used to obtain the GNSS positioning result of the device, and first state information; The IMU module is used to obtain the attitude information, attitude confidence and second state information of the device; The laser ranging module is used to emit laser to the measured point, and obtain the distance measurement value from the device to the measured point, and third state information; The GNSS module, IMU module and laser ranging module are electrically connected with data processing module respectively, and the data processing module is configured to: Based on the pre-calibrated coordinate system conversion parameters, the GNSS positioning result and the IMU attitude information are fused, the coordinates of the laser emitting point and the attitude information of the laser ranging module are calculated, and further combined with the distance measurement value, the coordinates of the measured point are calculated; Based on the GNSS positioning result, the first state information, the attitude information of the device, the attitude confidence, the second state information, the distance measurement value and the third state information of the device, the confidence of the coordinates of the measured point is calculated; the coordinates of the measured point and the confidence are saved together as the measurement result, and the measurement is completed; The power supply module is electrically connected with the GNSS module, the IMU module, the laser ranging module and the data processing module, and is used for supplying power for the device.

[0024] In the specific implementation process, first, the pre-calibrated coordinate system conversion parameters are obtained, and the GNSS module, the IMU module and the laser ranging module are used to collect the GNSS positioning result and the first state information of the device, the attitude information of the device, the attitude confidence and the second state information, the distance measurement value and the third state information; Then, based on the coordinate system conversion parameters, the GNSS positioning result and the IMU attitude information are fused, and the coordinates of the laser emitting point and the attitude information of the laser ranging module are calculated; Then, according to the coordinates of the laser emitting point, the attitude information of the laser ranging module, and the distance measurement value, the coordinates of the measured point are calculated; Finally, based on the currently collected data, the confidence of the coordinates of the measured point is calculated, and the coordinates of the measured point and the confidence are saved together as the measurement result, and the measurement is completed; The device can realize non-contact high-precision laser irradiation point coordinate calculation through data fusion of the GNSS module, the IMU module and the laser ranging module. Secondly, the device also calculates the confidence information of the coordinates to judge the credibility of the measurement result. In addition, the device can dynamically adjust the measurement credibility through historical data, so as to adapt to the change of complex environment and improve the measurement precision and robustness.

[0025] Embodiment 2 As shown in Figure 2 The embodiment provides a non-contact laser measurement method, based on the device in embodiment 1, including the following steps: S1: Obtain pre-calibrated coordinate system conversion parameters, including: the relative rotation and displacement relationship between the coordinate system of the IMU module and the GNSS module; the relative rotation and displacement relationship between the coordinate system of the GNSS module and the laser ranging module; S2: collecting GNSS positioning results and first state information of the device, attitude information of the device, attitude confidence and second state information, distance measurement value and third state information in real time, and saving them together as multi-source data; S3: based on the coordinate system conversion parameters, data fusion is performed on the GNSS positioning results and IMU attitude information, and the coordinates of the laser emitting point and the attitude information of the laser ranging module are solved; S4: according to the coordinates of the laser emitting point, the attitude information of the laser ranging module, and the distance measurement value, the coordinates of the measured point are calculated; S5: based on the current multi-source data and its self-consistency with historical multi-source data, the confidence of the coordinates of the measured point is calculated; S6: the coordinates of the measured point and its confidence are saved together as measurement results, and the measurement is completed; In step S1, the relative rotation and displacement relationship between the coordinate systems of the IMU module and the GNSS module is represented as a first quaternion Q i2b and a first three-dimensional vector T i2b , wherein the first quaternion Q i2b represents the fixed rotation relationship of the IMU module coordinate system C imu to the GNSS module coordinate system C body ; the first three-dimensional vector T i2b represents the displacement of the origin of the IMU module coordinate system C imu in the GNSS module coordinate system C body ; The relative rotation and displacement relationship between the coordinate systems of the GNSS module and the laser ranging module is represented as a second quaternion Q b2l and a second three-dimensional vector T b2l , wherein the second quaternion Q b2l represents the fixed rotation relationship of the GNSS module coordinate system C body to the laser ranging module coordinate system C laser ; the second three-dimensional vector T b2l represents the displacement of the origin of the GNSS module coordinate system C body in the laser ranging module coordinate system C laser ; In step S2, at time t i , the GNSS positioning results of the device are represented as P GNSS (t i ), the first state information is represented as S GNSS (t i ), the attitude information of the device is represented as A IMU (ti), the second state information is represented as S IMU (ti), and the attitude confidence is represented as σIMU (t i ), the distance measurement value is represented as D laser (t i ), the third state information is represented as S laser (t i ); In the step S3, the coordinates of the laser emitting point and the attitude information of the laser ranging module are calculated according to the following formula: P laser (t i )=P GNSS (t i )+Q g2b (t i )·T i2b +Q g2l (t i )·T b2l

[0026]

[0027] wherein P laser (t i ) represents the coordinates of the laser emitting point at the time t i ; Q g2b represents the rotation quaternion between the GNSS module coordinate system C body and the local navigation system; Q g2i =A IMU (t i ) represents the rotation quaternion between the IMU module coordinate system C imu and the local navigation system; and Q g2l (t i ) represents the rotation quaternion between the laser ranging module coordinate system C laser and the local navigation system; represents the quaternion multiplication; the rotation quaternion Q g2l (t i ) is saved as the attitude information of the laser ranging module; In the step S4, the coordinates of the measured point are calculated according to the following formula: P target (t i )=P laser (t i )+D laser (t i )·Q g2l (t i )·[1,0,0] T wherein P target (ti ) represents the time coordinates of the measured point; T represents the matrix transpose; In step S5, the confidence of the coordinates of the measured point is calculated according to the following formula:

[0028] wherein C(t i ) represents the time confidence of the coordinates of the measured point; represents a preset fusion function; represents the self-consistency of the current multi-source data and the historical multi-source data; The preset fusion function is specifically any one or more of a weighted average function, a minimum value function, an exponential function and a logarithmic function; The self-consistency of the current multi-source data and the historical multi-source data is determined by calculating the coordinate variance of the points within a certain range around the measured point ; The method further comprises: when the confidence of the coordinates of the measured point is lower than a preset confidence threshold, re-executing steps S1-S6 for several times to obtain multiple measurement results, and further using a nonlinear optimization method to obtain an optimal measurement result; The nonlinear optimization method at least includes any one of a nonlinear least squares method, a gradient descent method and a Gauss-Newton method.

[0029] In the specific implementation process, first, the coordinate system conversion parameters of the pre-calibration are obtained, and in this embodiment, the parameters mainly include: the relative rotation and displacement relationship between the coordinate systems of the IMU module and the GNSS module; the relative rotation and displacement relationship between the coordinate systems of the GNSS module and the laser ranging module; in this embodiment, the relative rotation and displacement relationship between the coordinate systems of the IMU module and the GNSS module are represented as a first quaternion Q i2b and a first three-dimensional vector T i2b , wherein the first quaternion Q i2b represents the fixed rotation relationship of the IMU module coordinate system C imu to the GNSS module coordinate system C body ; the first three-dimensional vector T i2b represents the displacement of the origin of the IMU module coordinate system C imu in the GNSS module coordinate system C body ; at the same time, the relative rotation and displacement relationship between the coordinate systems of the GNSS module and the laser ranging module are represented as a second quaternion Q b2l and a second three-dimensional vector T b2l , wherein the second quaternion Q b2l represents the fixed rotation relationship of the GNSS module coordinate system Cbody to the fixed rotational relationship of the laser ranging module coordinate system C laser ; the second three-dimensional vector T b2l represents the origin of the GNSS module coordinate system C body in the laser ranging module coordinate system C laser ; It should be particularly pointed out that C imu and C body coordinate system directions coincide only with a fixed displacement relationship; Secondly, by using the GNSS module, the IMU module and the laser ranging module, the GNSS positioning result and the first state information of the device, the attitude information, the attitude confidence and the second state information of the device, the distance measurement value and the third state information are collected in real time, and are saved as multi-source data together; Specifically, at time t i , the GNSS positioning result of the device output by the GNSS module is represented as P GNSS (t i ), which is usually ECEF or Geodetic coordinates; the first state information output by the GNSS module is represented as S GNSS (t i ), including PDOP (Position Dilution of Precision), solution type, number of satellites, differential state, etc.; The attitude information of the device output by the IMU module is represented as A IMU (ti), where A IMU (t i ) is a normalized quaternion Q g2il (t i ), which describes the instantaneous rotational attitude of C imu relative to the local navigation system NED / ENU; the second state information output by the IMU module is represented as S IMU (ti), including temperature, accelerometer / gyroscope state, etc.; the attitude confidence output by the IMU module is represented as σ IMU (t i ); The distance measurement value output by the laser ranging module is represented as D laser (t i ), and the third state information output by the laser ranging module is represented as S laser (t i ), including signal strength, measurement state, etc.; Then, based on the above coordinate system conversion parameters, the GNSS positioning result and the IMU attitude information are fused to solve the coordinates of the laser emitting point and the attitude information of the laser ranging module; Specifically, the coordinates of the laser emitting point and the attitude information of the laser ranging module are solved according to the following formula: P laser (t i )=P GNSS (t i )+Q g2b (t i )·T i2b +Q g2l (t i )·T b2l

[0030]

[0031] Wherein, P laser (t i ) represents the coordinates of the laser emission point at time t i ; Q g2b represents the rotation quaternion between the GNSS module C body and the local navigation system; Q g2i =A IMU (t i ), represents the rotation quaternion between the IMU module coordinate system C imu and the local navigation system; Q g2l (t i ) represents the rotation quaternion between the laser ranging module coordinate system C laser and the local navigation system; represents the quaternion multiplication; since a single coordinate system itself has no direction without reference, the attitude of a module or coordinate system needs to select a reference system, in this embodiment, the local navigation system can be the northeast sky, north east ground and other coordinate systems, mainly used for attitude reference; If the C imu and C body coordinate system directions coincide only with fixed displacement relationship, Q i2b is a unit quaternion, at this time: Q g2b =Q g2i ; P laser (t i )=P GNSS (t i )+Q g2i (t i )·T i2b +Q g2l (t i )·T b2l ; The rotation quaternion Q g2l (t i ) is saved as the attitude information of the laser ranging module; Then, based on the coordinates of the laser emission point, the attitude information of the laser ranging module, and the distance measurement value, the coordinates of the measured point are calculated. Specifically, the coordinates of the measured point are calculated using the following formula: P target (t i )=P laser (t i )+D laser (t i )·Q g2l (t i )·[1,0,0] T Among them, P target (t i () indicates time The coordinates of the measured point; T represents the matrix transpose; [1, 0, 0] represents the coordinate system C of the laser ranging module. laser The unit vector of the optical axis direction (assuming the optical axis is along the positive X-axis direction); Finally, based on the currently collected data, the confidence level of the coordinates of the measured point is calculated. Specifically, in this embodiment, based on the weighted average of the accuracy of each component or error propagation, the confidence level of the coordinates of the measured point is calculated according to the following formula:

[0032] Wherein, C(t) i () indicates time Confidence level of the coordinates of the measured point; This represents the preset fusion function; This indicates the self-consistency between current multi-source data and historical multi-source data; In this embodiment, the preset fusion function It can be a weighted average function, a minimum function, or other nonlinear functions, such as exponential functions, logarithmic functions, etc., or it can be a fusion of multiple functions; this embodiment uses a weighted average function as the fusion function. Furthermore, the consistency between the current multi-source data and historical multi-source data is determined by calculating the coordinate variance of points within a certain range around the measured point. If the current point deviates significantly from the historical trajectory (within the range of inertial prediction), the confidence level decreases. The measurement results are saved together, including the distance measurement value output by the laser ranging module, the coordinates of the laser emission point, the attitude information of the laser ranging module, the coordinates of the measured point and its confidence level, thus completing the measurement. The user can acquire the coordinate measurement result of the laser irradiation point through the output data, and can judge the reliability of the laser measurement result through the confidence information; if the confidence is low, the user can obtain a better measurement result by using multiple output data and using a nonlinear optimization method; in the embodiment, the nonlinear optimization method can be any one of a nonlinear least square method, a gradient descent method and a Gauss-Newton method; The method can realize high-precision laser irradiation point coordinate calculation in a non-contact manner through data fusion of a GNSS module, an IMU module and a laser ranging module; secondly, the method also calculates confidence information of the coordinates to judge the reliability of the measurement result; in addition, the method can dynamically adjust the measurement reliability through historical data, so as to adapt to changes in complex environments and improve the measurement accuracy and robustness.

[0033] The same or similar reference signs correspond to the same or similar components; The terms describing the positional relationship in the drawings are only used for illustrative description, and cannot be understood as a limitation on the application; Obviously, the above embodiments of the application are only examples for clearly illustrating the application, and are not intended to limit the implementation modes of the application. Any modification, equivalent replacement and improvement made on the basis of the above description for those skilled in the art should be included in the protection scope of the claims of the application.

Claims

1. A contactless laser measuring device, characterized in that The device comprises a GNSS module, an IMU module, a laser ranging module, and a data processing module. The GNSS module is configured to obtain GNSS positioning results of the device and first state information. The IMU module is configured to obtain attitude information and attitude confidence of the device, and second state information. The laser ranging module is configured to emit laser to a measured point and obtain a distance measurement value from the device to the measured point, and third state information. The GNSS module, the IMU module, and the laser ranging module are electrically connected to the data processing module, and the data processing module is configured to: Based on the pre-calibrated coordinate system conversion parameters, the GNSS positioning results and the IMU attitude information are fused to calculate the coordinates of the laser emitting point and the attitude information of the laser ranging module, and further combined with the distance measurement value to calculate the coordinates of the measured point. Based on the GNSS positioning results of the device, the first state information, the attitude information of the device, the attitude confidence, the second state information, the distance measurement value, and the third state information, the confidence of the coordinates of the measured point is calculated. The device further comprises a power supply module electrically connected to the GNSS module, the IMU module, the laser ranging module, and the data processing module.

2. A contactless laser measuring device according to claim 1, characterized in that The method comprises the following steps:

3. A contactless laser measuring method based on the apparatus according to any one of claims 1 to 2, characterized in that, S1: obtaining pre-calibrated coordinate system conversion parameters, including the relative rotation and displacement relationship between the coordinate systems of the IMU module and the GNSS module, and the relative rotation and displacement relationship between the coordinate systems of the GNSS module and the laser ranging module; S2: real-time acquisition of the GNSS positioning results of the device and the first state information, the attitude information of the device and the attitude confidence, the second state information, the distance measurement value, and the third state information, and common saving as multi-source data; S3: based on the coordinate system conversion parameters, the GNSS positioning results and the IMU attitude information are fused to calculate the coordinates of the laser emitting point and the attitude information of the laser ranging module; S4: based on the coordinates of the laser emitting point, the attitude information of the laser ranging module, and the distance measurement value, the coordinates of the measured point are calculated; S5: based on the current multi-source data and its self-consistency with historical multi-source data, the confidence of the coordinates of the measured point is calculated; S6: the coordinates of the measured point and its confidence are saved as measurement results, and the measurement is completed. In step S3, the coordinates of the laser emitting point and the attitude information of the laser ranging module are calculated according to the following formula:

4. A contactless laser measurement method according to claim 3, characterized in that, In the step S1, the relative rotation and displacement relationship between the coordinate systems of the IMU module and the GNSS module are respectively represented as a first quaternion Q i2b and a first three-dimensional vector T i2b , wherein the first quaternion Q i2b represents a fixed rotation relationship of the IMU module coordinate system C imu to the GNSS module coordinate system C body ; and the first three-dimensional vector T i2b represents a displacement of the origin of the IMU module coordinate system C imu in the GNSS module coordinate system C body . A relative rotation and displacement relationship between the coordinate systems of the GNSS module and the laser ranging module is represented as a second quaternion Q b2l and a second three-dimensional vector T b2l , respectively. b2l The second quaternion Q body represents a fixed rotation relationship of the GNSS module coordinate system C laser to the laser ranging module coordinate system C b2l . The second three-dimensional vector T body represents a displacement of the origin of the GNSS module coordinate system C laser in the laser ranging module coordinate system C .

5. A contactless laser measurement method according to claim 4, characterized in that, In step S2, at time t i The GNSS positioning result of the device is denoted as P GNSS (t i ), the first state information is denoted as S GNSS (t i ), the attitude information of the device is denoted as A IMU (ti), the second state information is denoted as S IMU (ti), the attitude confidence is denoted as σ IMU (t i ), the distance measurement value is denoted as D laser (t i ), and the third state information is denoted as S laser (t i ).

6. A contactless laser measurement method according to claim 5, characterized in that, In step S4, the coordinates of the measured point are calculated according to the following formula: P laser (t i )=P GNSS (t i )+Q g2b (t i )·T i2b +Q g2l (t i )·T b2l where P laser (t i ) denotes the position of the laser emitting point at time t i ; Q g2b denotes the rotation quaternion between the GNSS module coordinate system C body and the local navigation system; Q g2i = A IMU (t i ), denotes the rotation quaternion between the IMU module coordinate system C imu and the local navigation system; Q g2l (t i ) denotes the rotation quaternion between the laser ranging module coordinate system C laser and the local navigation system; denotes quaternion multiplication; The rotation quaternion Q g2l (t i ) is saved as the attitude information of the laser ranging module.

7. A contactless laser measurement method according to claim 6, characterized in that, In step S5, the confidence of the coordinates of the measured point is calculated according to the following formula: P target (t i )=P laser (t i )+D laser (t i )·Q g2l (t i )·[1,0,0] T where P target (t i ) denotes the time instant the coordinates of the measured point; T denotes the matrix transpose.

8. A contactless laser measurement method according to claim 7, characterized in that, The method further comprises: when the confidence of the coordinates of the measured point is lower than a preset confidence threshold, steps S1-S6 are re-executed several times to obtain multiple measurement results, and a nonlinear optimization method is further used to obtain an optimal measurement result. Wherein, C(t i ) represents the confidence of the coordinates of the measured point at time ; represents the preset fusion function; represents the self-consistency of the current multi-source data and the historical multi-source data.

9. A contactless laser measurement method according to claim 8, characterized in that, The preset fusion function Specifically, any one or more of a weighted average function, a minimum value function, an exponential function, and a logarithmic function. determining the self-consistency of the current multi-source data with historical multi-source data by calculating coordinate variance of points within a certain range around the measured point .

10. A contactless laser measurement method according to any one of claims 3 to 9, characterized in that, ​ The nonlinear optimization method includes at least any one of a nonlinear least square method, a gradient descent method, and a Gauss-Newton method. The nonlinear optimization method includes at least any one of a nonlinear least square method, a gradient descent method, and a Gauss-Newton method.

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