Road elevation data acquisition system, method, apparatus and device

Abstract

The application discloses a road elevation data acquisition system, method, device and equipment, through distributed arrangement of multiple ranging units, single-lane full-coverage collection can be realized, collection efficiency is greatly improved compared with traditional leveling, and artificial cost can be greatly reduced. Meanwhile, the absolute heading angle updating accuracy is improved by adopting a heading increment and absolute heading fusion mode. In addition, the double-angle attitude compensation is performed in combination with the lateral offset data and the pitch angle and the roll angle, so that the differentiated influence of the device inclination on the ranging units at different positions can be accurately corrected. Finally, the high-precision can be realized, the rapid collection demand of large-area and long-distance roads can be met, and the data reliability and consistency are significantly improved.

Description

Technical Field

[0001] This application relates to the field of road surveying, and in particular to a system, method, apparatus and equipment for acquiring road elevation data. Background Technology

[0002] Traditional road elevation data measurement primarily employs leveling, which, while achieving high accuracy, relies heavily on manual point-by-point leveling, resulting in extremely low data collection efficiency. Furthermore, this method is severely limited by terrain variations and weather conditions such as rain and fog, failing to meet the demands for rapid data collection over large areas and long distances. Although electronic levels have reduced human reading errors, deviations in leveling and manual recording can still introduce human error, further diminishing the reliability and consistency of the data. Summary of the Invention

[0003] This application aims to provide a road elevation data acquisition system, method, apparatus, and equipment that can improve detection efficiency and detection stability.

[0004] The road elevation data acquisition system according to a first aspect embodiment of this application includes: Mounting frame with a data collection beam; Multiple ranging units are vertically mounted on the acquisition beam and arranged in the same direction. Each ranging unit is used to acquire raw ranging data. The attitude detection unit, mounted on the mounting bracket, is used to acquire pitch angle, roll angle, and yaw increment data. The reference parameter unit, mounted on the mounting bracket, is used to acquire absolute heading data and reference elevation data; The control unit is electrically connected to the attitude detection unit, the reference parameter unit, and each ranging unit. It is used to determine the real-time heading angle based on the heading increment data and absolute heading data collected by the attitude detection unit, determine the ranging coordinate data of each ranging unit based on the real-time heading angle, determine the final ranging data of each ranging unit based on the installation height data, lateral offset data, and original ranging data of each ranging unit, and combine the reference elevation data, pitch angle, and roll angle, and generate the final elevation ranging result based on the final ranging data and ranging coordinate data of each ranging unit.

[0005] The road elevation data acquisition method according to the second aspect of this application is applied to the road elevation data acquisition system as described in the first aspect embodiment. The road elevation data acquisition method includes: Acquire the raw distance measurement data measured by each distance measuring unit; multiple distance measuring units are arranged vertically towards the ground. Acquire pitch angle, roll angle, and heading increment data measured by the attitude detection unit; Obtain the absolute heading data and reference elevation data of the reference parameter unit measurement; The real-time heading angle is determined based on the heading increment data and absolute heading data collected by the attitude detection unit; Based on the reference at the front end of the acquisition beam, the ranging coordinate data of each ranging unit is determined according to the real-time heading angle; Based on the installation height data, original distance measurement data, and lateral offset data relative to the first end reference in the length direction of the acquisition beam for each distance measurement unit, and combined with the reference elevation data, pitch angle, and roll angle, the final distance measurement data corresponding to each distance measurement unit is determined. The final elevation distance measurement result is generated based on the final distance measurement data and distance measurement coordinate data corresponding to each distance measurement unit.

[0006] The road elevation data acquisition device according to a third aspect embodiment of this application is applied to the road elevation data acquisition system as described in the first aspect embodiment. The road elevation data acquisition device includes: The first data acquisition module is used to acquire the raw distance measurement data measured by each distance measuring unit. All distance measuring units are arranged vertically towards the ground. The second data acquisition module is used to acquire pitch angle, roll angle, and heading increment data measured by the attitude detection unit; The third data acquisition module is used to acquire the absolute heading data and benchmark elevation data of the benchmark parameter unit measurement; The real-time heading determination module is used to determine the real-time heading angle based on the heading increment data and absolute heading data collected by the attitude detection unit. The ranging coordinate determination module is used to determine the ranging coordinate data of each ranging unit based on the reference at the front end on the acquisition beam and the real-time heading angle. The distance measurement data determination module is used to determine the final distance measurement data for each distance measurement unit based on the installation height data, original distance measurement data, and lateral offset data relative to the first end reference in the length direction of the acquisition beam, combined with the reference elevation data, pitch angle, and roll angle. The result generation module is used to generate the final elevation distance measurement result based on the final distance measurement data and distance measurement coordinate data corresponding to each distance measurement unit.

[0007] An electronic device according to a fourth aspect of this application includes: a processor and a memory storing computer program instructions; When the processor executes computer program instructions, it implements the road elevation data acquisition method as described in the second aspect embodiment.

[0008] The road elevation data acquisition system, method, apparatus, and equipment of this application, through the distributed arrangement of multiple ranging units, can achieve full-coverage data acquisition for a single lane. Compared with traditional leveling surveying, the acquisition efficiency is greatly improved, and labor costs are significantly reduced. Simultaneously, the use of a fusion method of incremental heading and absolute heading improves the accuracy of absolute heading angle updates. Furthermore, by combining lateral offset data with pitch and roll angles for dual-angle attitude compensation, the differential effects of device tilt on ranging units at different locations can be accurately corrected. Ultimately, it can achieve high precision while meeting the rapid acquisition needs of large-area, long-distance roads, and significantly improve data reliability and consistency.

[0009] Other features and advantages of this application will be set forth in the following description and will be apparent in part from the description or may be learned by practicing the application. Attached Figure Description

[0010] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is an isometric view of the road elevation data acquisition system according to an embodiment of this application; Figure 2 This is a front view of the road elevation data acquisition system according to an embodiment of this application; Figure 3 This is an electrical system diagram of the road elevation data acquisition system according to an embodiment of this application; Figure 4 This is a flowchart of a method for obtaining road elevation data according to an embodiment of this application.

[0011] Figure label: Data acquisition beam 110; column 120; ranging unit 200; attitude detection unit 300; reference parameter unit 400; GNSS module 410; prism 420; control unit 500. Detailed Implementation

[0012] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0013] In the description of this application, the use of terms such as "first," "second," etc., is for the purpose of distinguishing technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0014] In the description of this application, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0015] In the description of this application, it should be noted that, unless otherwise explicitly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0016] The technical solution of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are some embodiments of this application, not all embodiments.

[0017] like Figures 1 to 3 As shown in one embodiment of this application, a road elevation data acquisition system is provided, which includes: Mounting frame, with a collection beam 110; Multiple ranging units 200 are vertically mounted on the acquisition beam 110 and arranged in the same direction. Each ranging unit 200 is used to acquire raw ranging data. The attitude detection unit 300 is mounted on the mounting bracket and is used to acquire pitch angle, roll angle and heading increment data; The reference parameter unit 400 is mounted on the mounting bracket and is used to acquire absolute heading data and reference elevation data; The control unit 500 is electrically connected to the attitude detection unit 300, the reference parameter unit 400, and each ranging unit 200. It is used to determine the real-time heading angle based on the heading increment data and absolute heading data collected by the attitude detection unit 300, determine the ranging coordinate data of each ranging unit 200 based on the real-time heading angle, determine the final ranging data of each ranging unit 200 based on the installation height data, lateral offset data, and original ranging data of each ranging unit 200, and combine the reference elevation data, pitch angle, and roll angle, and generate the final elevation ranging result based on the final ranging data and ranging coordinate data of each ranging unit 200.

[0018] In this embodiment, the distributed arrangement of multiple ranging units 200 enables full-coverage data acquisition across a single lane, significantly improving acquisition efficiency and reducing labor costs compared to traditional leveling. Simultaneously, the fusion of incremental and absolute heading improves the accuracy of absolute heading angle updates. Furthermore, combining lateral offset data with pitch and roll angles for dual-angle attitude compensation precisely corrects the differential effects of device tilt on ranging units 200 at different locations. Ultimately, this achieves high precision while meeting the rapid data acquisition needs of large-area, long-distance roads, with significantly improved data reliability and consistency.

[0019] The aforementioned mounting bracket includes a data acquisition beam 110 extending laterally. The length of the data acquisition beam 110 can be adapted to the lane width of the road to be acquired; for example, it can cover the full width of a single standard lane.

[0020] The aforementioned mounting frame can be fixed to a mobile carrier via a connecting structure, and the mobile carrier can then move the entire system along the road to be inspected.

[0021] The aforementioned mounting bracket also includes a housing, within which the aforementioned control unit 500 and attitude detection unit 300 can be housed.

[0022] The aforementioned mobile platform can be a height-adjustable, hand-push type, equipped with anti-slip wheels and a braking device at its bottom. The anti-slip wheels can include two omnidirectional wheels and two fixed wheels, enabling stable movement on various road conditions, including smooth surfaces and slightly bumpy roads. The braking device is located on the side of the omnidirectional wheels, facilitating quick braking and fixed-point positioning during movement. A height adjustment mechanism is installed at the top of the mobile platform, connecting the mounting frame to the platform. Operators can adjust the mounting frame's height above the ground according to different road surface conditions, ensuring that the distance between all ranging units 200 and the measured road surface remains within the effective ranging range.

[0023] The aforementioned multiple ranging units 200 can be installed linearly or in an array on the lower surface of the acquisition beam 110. The detection axes of all ranging units 200 are perpendicular to the reference plane of the acquisition beam 110 and are arranged facing the ground. Each ranging unit 200 has an independent distance measurement function and can output the raw distance data from its detection center point to the measured ground in real time.

[0024] The number of the aforementioned ranging units 200 can be configured according to the data acquisition density requirements, and the spacing between adjacent ranging units 200 can be adjusted according to the accuracy requirements.

[0025] The ranging unit 200 described above can directly adopt an ultrasonic ranging module. In some embodiments, other sensing devices capable of non-contact distance measurement can also be selected according to actual needs.

[0026] The ultrasonic ranging module described above can use a 200kHz-500kHz high-frequency ultrasonic sensor with a ranging accuracy of ≤±0.1mm and a ranging range of 0.1m-5m. It has a built-in noise filtering module that can filter out interference from road surface roughness, slight water accumulation, and environmental noise, thereby improving the stability of the initial distance data.

[0027] The aforementioned attitude detection unit 300 can be rigidly fixed at any position on the mounting frame, and its measurement reference is kept as parallel as possible to the reference plane of the acquisition beam 110, enabling it to detect and output the three-dimensional attitude parameters of the mounting frame in real time.

[0028] The attitude detection unit 300 is used to acquire pitch angle, roll angle and heading increment data; pitch angle and roll angle represent the tilt state of the mounting frame relative to the horizontal plane, providing the core basis for attitude correction of the original ranging data; heading increment data represents the change of the heading angle of the mounting frame per unit time, providing high-frequency increment data for the fusion calculation of the real-time heading angle.

[0029] The aforementioned attitude detection unit 300 can employ an inertial measurement unit integrating an accelerometer and a gyroscope. The accelerometer detects the static tilt angle of the mounting frame, and the gyroscope detects the dynamic angular velocity of the mounting frame. Continuous pitch, roll, and yaw increment data are then calculated internally. Specifically, the accelerometer output data can serve as a long-term stable attitude reference for pitch and roll angles, while the gyroscope captures short-term dynamic changes in these two angles during equipment movement. The system can use a weighted fusion algorithm to solve the original attitude data; the fusion formula is as follows: In the formula, From the perspective of fusion, The angle calculated by the gyroscope. Weighting coefficients for the angles calculated by the accelerometer With the value range set to 0.95~0.98, this fusion method can compensate for the measurement defects of a single device, effectively suppress measurement deviation, and ultimately control the detection accuracy of pitch angle and roll angle within ±0.05°, providing high-precision attitude parameters for attitude correction of ranging data.

[0030] The aforementioned reference parameter unit 400 is rigidly fixed to the mounting frame and can provide a globally unified absolute geographic reference. Specifically, the reference parameter unit 400 can output in real time the absolute heading data of the mounting frame relative to the geographic coordinate system, and the reference elevation data of a reference point on the mounting frame relative to the geoid. The absolute heading data is the absolute angle value of the mounting frame's heading angle relative to geographic true north. The reference parameter unit 400 can be implemented using a combination of satellite positioning and ground measurement, or other technical solutions capable of providing an absolute geographic reference.

[0031] The aforementioned control unit 500 is the core of the entire system's computation and control, and may include a processor, memory, and data interface circuitry. The control unit 500 is electrically connected to the attitude detection unit 300, the reference parameter unit 400, and each ranging unit 200 via data interfaces to achieve synchronous acquisition and processing of multi-source data. The control unit 500 first fuses the incremental heading data output by the attitude detection unit 300 with the absolute heading data output by the reference parameter unit 400 to obtain a high-precision real-time heading angle; then, based on the real-time heading angle, it calculates the ranging coordinate data of each ranging unit 200 in the geographic coordinate system; next, it combines the installation height data, lateral offset data, original ranging data, reference elevation data, pitch angle, and roll angle to perform attitude compensation calculations, obtaining the final ranging data corresponding to each ranging unit 200; finally, it correlates the final ranging data with the corresponding ranging coordinate data to generate the final road elevation ranging result.

[0032] The aforementioned final elevation ranging result is generated by the control unit 500. It can be a structured dataset obtained by associating the final ranging data corresponding to all ranging units 200 at each target sampling time with their respective ranging coordinate data, which fully represents the elevation distribution of the road surface to be detected.

[0033] Each elevation data unit in the above structured dataset can contain a unique identifier for the corresponding ranging unit 200, ranging coordinate data at the target sampling time, final ranging data, and acquisition timestamp. The ranging coordinates represent the planar position of the detection point, and the final ranging data is the absolute elevation value of that point.

[0034] In some implementations, the power supply module within the road elevation data acquisition system can integrate a high-capacity lithium battery pack, a charging management unit, and a voltage stabilization unit. These units work together to achieve fully controllable operation of the power supply, charging, and voltage stabilization processes. The high-capacity lithium battery pack has a rated capacity of no less than 10,000 mAh, capable of supporting continuous operation for at least 8 hours on a full charge. This adapts to long-distance, long-duration outdoor road elevation data collection scenarios, eliminating the need for frequent shutdowns for recharging. The charging management unit is electrically coupled to the lithium battery pack, supporting fast charging to improve pre-operation recharging efficiency. It also integrates multiple safety protection mechanisms, including overcharge protection, over-discharge protection, and short-circuit protection, effectively preventing circuit abnormalities under complex outdoor conditions, slowing down lithium battery aging, and significantly extending the cycle life of the lithium battery pack. The voltage stabilization unit is located at the power output end of the lithium battery pack. It can regulate and control the battery output voltage, keeping it stable within a precise range of 5V-12V. It can adapt to the rated power supply requirements of different functional modules such as the ranging unit 200, attitude detection unit 300, reference parameter unit 400, and control unit 500 in the device, solving the problem of power instability caused by battery voltage fluctuations and load changes, and ensuring stable operation of each unit throughout the process.

[0035] In some implementations, reference Figure 1 , Figure 2 Multiple ranging units 200 are arranged linearly along the length of the acquisition beam 110.

[0036] The aforementioned multiple ranging units 200 are arranged linearly along the length of the acquisition beam 110, with the detection ends of each ranging unit 200 facing the road surface in the same direction and perpendicular to it. The total span of the unit arrangement can be adapted to the width of a single standard lane, and the number of units and the overall layout length can be flexibly adjusted according to the road detection accuracy requirements.

[0037] In this embodiment, the linear layout better conforms to the road's extension shape, enabling full coverage detection of a single lane's cross-section in a single data acquisition, effectively improving acquisition efficiency. Simultaneously, the unified linear reference simplifies coordinate calculation and attitude compensation logic, reducing data computation complexity and preventing positional errors caused by a cluttered layout, further ensuring the overall consistency of elevation data.

[0038] In some implementations, reference Figure 1 , Figure 2 Multiple ranging units are arranged at equal intervals of 200.

[0039] In this embodiment, the 200 ranging units are arranged at equal intervals, which can achieve a uniform distribution of road surface sampling points and improve the regularity and representativeness of the detection results. This layout allows the lateral offset of each unit to vary regularly, simplifying parameter calibration and coordinate and attitude compensation calculations, and reducing calculation errors. At the same time, uniform sampling can match the conventional road detection standards, which facilitates subsequent data processing, comparative analysis, and engineering mapping.

[0040] In some implementations, a leveling bracket is also provided at the bottom of the mounting bracket, which is used to adjust the posture of the mounting bracket.

[0041] The aforementioned leveling bracket can be installed at the bottom of the mounting frame and rigidly connected to it. The bracket employs a telescopic structure, allowing adjustment of the extension length of each support end according to site conditions, thereby adjusting the horizontal orientation of the mounting frame. Before measurement operations, pre-leveling is performed using the leveling bracket to ensure the data acquisition beam 110 is in a standard horizontal position. During transport or temporary parking, the leveling bracket can also serve as a support structure, stably supporting the entire equipment.

[0042] In this embodiment, leveling the equipment before operation effectively reduces systematic errors caused by the initial tilt angle, improving the overall accuracy of attitude compensation and elevation calculation. Simultaneously, the leveling bracket stably supports the equipment, preventing swaying or displacement during placement and start-up / shutdown, ensuring the measurement benchmark remains stable, and further enhancing the reliability of the collected data.

[0043] In some implementations, reference Figure 1 , Figure 2 The reference parameter unit 400 includes: Two GNSS modules 410 are both arranged on the acquisition beam 110 and electrically connected to the control unit 500; Prism 420 is arranged on acquisition beam 110 via column 120 for being captured by tracking robot to obtain baseline elevation data and transmit it to control unit 500.

[0044] The two GNSS modules 410 are independently and fixedly installed at their respective mounting points on the acquisition beam 110, maintaining a rigid connection with the beam without relative displacement, thus ensuring a constant baseline distance and spatial relative position between them. Both GNSS modules 410 can be electrically connected to the control unit 500 via signal lines, acquiring satellite positioning data in real time during operation and simultaneously outputting raw positioning data containing planar coordinates and azimuth information.

[0045] The aforementioned prism 420 can be vertically fixed to the acquisition beam 110 by a rigid vertical column 120. The height of the column 120 is fixed, so that the prism 420, the acquisition beam 110, and each ranging unit 200 maintain a preset and constant spatial relative position. In operation, the external tracking robot continuously and automatically captures and locks the position of the prism 420, observes the elevation of the prism 420 in real time with high precision, calculates stable and uniform benchmark elevation data, and transmits the benchmark elevation data back to the control unit 500 in real time.

[0046] The aforementioned tracking robot can be equipped with a laser tracking module and a signal interaction module, thereby enabling it to quickly lock onto the prism 420. During field operations, if the robot loses its signal lock with the prism 420 due to factors such as road bumps or obstacles, the laser call system can be used to quickly initiate a location search, relock the prism 420 with one click, and resume continuous tracking, ensuring uninterrupted data acquisition as much as possible.

[0047] The aforementioned control unit 500 synchronously receives the positioning data output by the dual GNSS module 410 and the reference elevation data collected by the tracking robot. Based on the baseline configuration of the dual GNSS module 410, it calculates high-precision absolute heading data, which, together with the reference elevation data, serves as the global measurement reference for the system.

[0048] In some implementations, reference Figure 1 , Figure 2 Two GNSS modules 410 are respectively arranged at both ends of the acquisition beam 110.

[0049] The two GNSS modules 410 are rigidly fixed to the left and right ends of the acquisition beam 110, respectively. Their installation positions correspond to the outermost ranging units 200 at both ends of the beam. Each module maintains a fixed distance from its adjacent ranging unit 200, ensuring the entire assembly remains relatively stable throughout. The two GNSS modules 410 form a fixed-length baseline along the transverse direction of the beam. During operation, they synchronously receive satellite signals and continuously output their respective real-time geographic coordinate data. The control unit 500 calculates the azimuth information based on the coordinate difference between the two GNSS modules 410, obtaining precise absolute heading data. This data, along with the raw data collected by each ranging unit 200, is then transmitted and aggregated for subsequent heading fusion, coordinate conversion, and elevation calculation.

[0050] The two GNSS modules 410 mentioned above can be used as the head reference and the tail reference, respectively. Which one is the head reference can be flexibly defined.

[0051] In this embodiment, two GNSS modules 410 are arranged at both ends of the crossbeam and corresponding to the outer ranging unit 200. This fully utilizes the span of the crossbeam to form a long baseline, effectively improving the accuracy of absolute heading calculation and reducing heading jitter under dynamic operations. Simultaneously, the GNSS modules 410 and the end ranging unit 200 are positioned correspondingly and their relative positions are fixed, ensuring a unified coordinate calculation benchmark and preventing systematic errors caused by benchmark misalignment. The overall structure is stable and requires no repeated calibration, making it suitable for long-term outdoor mobile data acquisition and ensuring stable and reliable measurement data.

[0052] In some implementations, reference Figure 1 , Figure 2 Prism 420 is a 360-degree prism 420.

[0053] The aforementioned prism 420 is a 360-degree omnidirectional reflecting prism 420, which is vertically mounted on the acquisition beam 110 via the column 120, maintaining a fixed relative position with the beam and various sensing components. During operation, regardless of the tracking robot's location around the prism 420, it can receive the optical signals reflected by the prism 420, and the robot continuously completes position tracking and elevation calculation based on the reflected signals.

[0054] like Figure 4 As shown, this application embodiment also provides a road elevation data acquisition method, which is applied to the control unit 500 in the road elevation data acquisition system described above. The road elevation data acquisition method includes steps S100 to S700. Step S100: Obtain the raw ranging data measured by each ranging unit 200. All ranging units 200 are arranged vertically toward the ground. Step S200: Obtain the pitch angle, roll angle, and heading increment data measured by the attitude detection unit 300; Step S300: Obtain the absolute heading data and reference elevation data measured by the reference parameter unit 400; Step S400: Determine the real-time heading angle based on the heading increment data and absolute heading data collected by the attitude detection unit 300; Step S500: Based on the head reference on the acquisition beam 110, determine the ranging coordinate data of each ranging unit 200 according to the real-time heading angle. Step S600: Based on the installation height data, original distance measurement data, and lateral offset data in the length direction of the acquisition beam 110 relative to the first end reference for each distance measurement unit 200, and combined with the reference elevation data, pitch angle, and roll angle, determine the final distance measurement data corresponding to each distance measurement unit 200. Step S700: Generate the final elevation distance measurement result based on the final distance measurement data and distance measurement coordinate data corresponding to each distance measurement unit 200.

[0055] The method in this embodiment is based on the aforementioned road elevation data acquisition system, and therefore possesses all the beneficial effects of such a system. Furthermore, relying on synchronous sampling with a 200-array multi-range unit, this method can complete road cross-section data acquisition in one go, significantly improving the efficiency and uniformity of road elevation acquisition. By combining absolute heading, global static benchmark elevation, and high-frequency attitude incremental dynamic correction, heading drift and tilt deviation during equipment movement are effectively suppressed, significantly improving the accuracy of attitude and coordinate calculations. Through unified benchmark origin combined with lateral offset, installation height, and attitude parameter collaborative correction, various system and dynamic measurement errors are effectively offset, ultimately outputting the final elevation ranging result.

[0056] In step S100 above, multiple ranging units 200 mounted on the acquisition beam 110 of the mounting frame complete the raw data acquisition. The acquisition beam 110 can be adapted to the width of the road lane to be inspected, covering the detection range of a conventional single lane. Multiple ranging units 200 are neatly arranged on the underside of the acquisition beam 110, forming a regular layout with their detection axes uniformly facing the ground and perpendicular to the reference plane of the acquisition beam 110, ensuring consistent detection reference for each ranging unit 200. During operation, the entire mounting frame moves at a constant speed along the road to be inspected along with the mobile carrier. Each ranging unit 200 simultaneously initiates non-contact distance detection, independently acquiring raw ranging data from its own detection center point to the road surface. This batch of raw ranging data retains the initial distance information of the road surface and is unaffected by subsequent attitude and coordinate conversion, providing a raw data source for subsequent elevation correction and calculation.

[0057] In step S200 above, while the original ranging data is being collected synchronously, dynamic attitude parameters can be collected in real time through the attitude detection unit 300, which is rigidly fixed on the mounting frame. The measurement reference of the attitude detection unit 300 is kept parallel to the reference plane of the acquisition beam 110, which can sense the attitude changes of the mounting frame during the moving operation in real time and continuously output time-synchronized pitch angle, roll angle and heading increment data. Among them, the pitch angle and roll angle correspond to the overall tilt state of the mounting frame relative to the horizontal plane and are used to correct the ranging deviation under tilt conditions; the heading increment data records the dynamic change of the equipment heading per unit time in real time, has high frequency update characteristics, can accurately capture small and rapid azimuth changes of the equipment, and provide dynamic increment data support for subsequent real-time heading angle fusion calculation. All attitude data and ranging data are strictly time-aligned.

[0058] In step S300 above, relying on the reference parameter unit 400 rigidly fixed on the mounting frame, the global unified geographic reference data of the entire detection system is acquired in real time, specifically including absolute heading data and reference elevation data. The absolute heading data can be the absolute angular reference of the mounting frame relative to geographic true north, possessing the characteristics of long-term stability and no cumulative drift; the reference elevation data is the absolute elevation value of the geoid corresponding to the preset reference point of the mounting frame, constructing the elevation reference system for the entire measurement system.

[0059] In step S400 above, the control unit 500 performs the fusion calculation of multi-source heading data. Combining the advantages of the absolute static heading reference output by the reference parameter unit 400 and the advantages of the high-frequency dynamic heading increment update output by the attitude detection unit 300, a combined static and dynamic heading calibration is achieved. The fusion algorithm corrects heading drift and dynamic attitude deviations generated during continuous equipment movement, compensating for the shortcomings of single-heading data acquisition, and calculating the high-precision real-time heading angle of the mounting frame at each sampling moment. This real-time heading angle accurately reflects the true orientation state of the equipment during its movement, possessing both reference stability and dynamic responsiveness, providing core orientation basis for the subsequent planar coordinate calculation of each ranging unit 200.

[0060] In step S500 above, during the operation, the head reference set on the acquisition beam 110 (for example, using the GNSS antenna at one end as the head reference) is used as the origin for calculating the plane coordinates. This reference position maintains a fixed relative position with each ranging unit 200. The control unit 500 retrieves the pre-calibrated lateral offset parameters of each ranging unit 200 relative to the head reference, and combines them with the currently calculated real-time heading angle to perform azimuth conversion on the lateral offset, converting the relative offset in the beam direction into plane coordinate increments in the geographic coordinate system. Based on the real-time plane coordinates of the head reference superimposed with the corresponding coordinate increments, the ranging coordinate data of all ranging units 200 in the global geographic coordinate system are calculated sequentially, ensuring that the plane position of each detection point is accurately matched with the real-time travel azimuth of the equipment.

[0061] In step S600 above, the control unit 500 retrieves the fixed installation height data of each ranging unit 200 and the lateral offset data of each ranging unit 200 relative to the head reference, which are pre-stored in the system. This data is combined with the real-time acquired raw ranging data, and a reference elevation data is introduced to construct an elevation reference. The pitch and roll angles are matched with the real-time acquired data to complete all-around attitude compensation and correction. Through multi-dimensional parameter collaborative correction, system and dynamic errors such as tilt errors, lateral offset errors, and reference elevation deviations caused by equipment road movement are offset. The original ranging data is accurately corrected and optimized, and finally, high-precision final ranging data corresponding to each ranging unit 200 is obtained, achieving accurate calculation of the road surface elevation at a single detection point.

[0062] In step S700 above, at the same sampling time, the control unit 500 correlates and matches the final ranging data calibrated by each ranging unit 200 with the corresponding ranging coordinate data to form complete sampling data containing planar position and elevation information. Following the chronological order of the equipment's movement along the road, multiple sets of continuously collected correlated data are summarized, organized, and integrated to form a continuous and complete dataset, thereby generating the final elevation ranging result that comprehensively reflects the spatial position and elevation distribution of the road surface under test.

[0063] In some implementations, the real-time heading angle is determined based on the heading increment data and absolute heading data collected by the attitude detection unit 300, including: The cumulative value of the heading increment output by the attitude detection unit 300 between the current time and the previous time is determined as the heading increment data; The absolute heading data is superimposed with the cumulative heading increment to obtain the real-time heading angle at the current moment.

[0064] In this embodiment, to address the technical problem of lag in GNSS heading updates during turning and rapid maneuvering of mobile data acquisition equipment, a fusion algorithm is adopted to calculate the real-time heading angle using absolute heading data anchoring from the reference parameter unit 400 and dynamic heading increment correction from the attitude detection unit 300. During operation, the dual GNSS modules 410 of the reference parameter unit 400 output low-frequency, highly stable absolute heading data. As a global heading anchor point, it corresponds to the reference heading true value at the sampling time of the nearby target (which can be understood as the current time). At the same time, the attitude detection unit 300 has a built-in inertial measurement unit that continuously collects heading angles at a high frame rate. yaw The data is used to obtain the IMU heading value at the anchor point time (which can be understood as the previous time). IMU heading value at the target sampling time The control unit 500 calculates the heading increment deviation relative to the anchor point at the current time, and obtains the short-term heading increment cumulative value through angle unwinding calculation. The calculation formula is: The cumulative heading increment is the heading increment data output by the attitude detection unit 300. Further correction is achieved by superimposing the absolute heading anchor point with the short-term heading increment, using the formula: The solution obtains a high-precision, high-refresh-rate real-time heading angle at the current sampling moment, achieving precise fusion of low-frequency absolute reference and high-frequency attitude increment, and adapting to dynamic steering measurement scenarios of equipment.

[0065] In this embodiment, a calculation logic combining absolute heading anchoring with IMU short-time incremental fusion correction is adopted, effectively solving the shortcomings of traditional single GNSS heading update frequency and attitude response lag during vehicle turning and rapid steering. This significantly improves the dynamic accuracy and stability of heading calculation during mobile surveying, providing a reliable real-time azimuth reference for subsequent 200 coordinate calculation of each ranging unit and road cross-section elevation correction.

[0066] In some implementations, based on the head reference on the acquisition beam 110, the ranging coordinate data of each ranging unit 200 is determined according to the real-time heading angle, including: Obtain the reference plane coordinates of the first end reference on the acquisition beam 110 at the current moment; Acquire the lateral offset data of each ranging unit 200 relative to the head reference in the length direction of the acquisition beam 110; Based on the real-time heading angle, the lateral offset data of each ranging unit 200 is decomposed into planar coordinate increments; Based on the reference plane coordinates and the plane coordinate increments corresponding to each ranging unit 200, the ranging coordinate data corresponding to each ranging unit 200 is determined.

[0067] In this embodiment, the control unit 500 first acquires the reference plane coordinates corresponding to the reference at the head end of the acquisition beam 110 at the current sampling time. , This is used as the reference origin for global plane coordinate calculation. It should be noted that the reference plane coordinates can be directly obtained using the GNSS module 410. Next, the pre-calibrated structural parameters of the equipment are retrieved to obtain the fixed baseline lengths of the reference points at both ends. L And the lateral offset data of each intermediate ranging unit 200 relative to the head reference. The system relies on the bow reference coordinates and real-time heading angle. Calculate the reference coordinates of the end of the beam based on the baseline length. , The calculation formula is: 、 Based on this, the interpolation coefficients are determined according to the ratio of the lateral offset of each probe to the baseline length. , The lateral offset data of each ranging unit 200 is converted into global planar coordinate increments using linear interpolation, and finally... , Generate precise ranging coordinate data for each ranging unit 200 one by one. , ).

[0068] In this embodiment, a coordinate calculation method combining head-end reference anchoring, heading projection, and offset interpolation is adopted, which perfectly matches the deployment characteristics of multi-probe arrays and effectively solves the problems of inconsistent spatial coordinate references and dynamic travel coordinate offsets among multiple ranging units 200. By combining dual-end reference coordinate calculation with lateral offset ratio interpolation, it can accurately adapt to the distributed deployment structure of six probes, ensuring that the coordinates of each intermediate ranging unit 200 are consistent with the actual installation position of the crossbeam, resulting in high coordinate calculation accuracy and good consistency.

[0069] In some implementations, the final ranging data corresponding to each ranging unit 200 is obtained through the following steps: Based on the pitch and roll angles, the original ranging data is corrected to obtain corrected ranging data. The installation height data is corrected based on the roll angle to obtain the corrected height data; Based on the roll angle, the lateral offset data of the ranging unit 200 in the length direction of the acquisition beam 110 is corrected to obtain the corrected offset data. Based on the roll angle, the sum of the corrected height data and the corrected offset data is corrected to obtain the final height data; The final distance measurement data is obtained by subtracting the corrected distance measurement data from the baseline elevation data and then subtracting the final height data.

[0070] In this embodiment, firstly, based on the real-time collected pitch angle... Roll angle The raw ranging data output by ranging unit 200 To correct the ranging error caused by the tilt of the equipment, which deviates the ultrasonic ranging axis from the vertical direction, the attitude correction is performed to obtain corrected ranging data. The calculation formula is as follows: Secondly, based on the real-time roll angle, the device's preset distance measuring unit 200 installation height data is used. Tilt compensation is performed to correct the vertical height deviation caused by equipment tilt, obtaining corrected height data that conforms to actual working conditions. Then, based on the roll angle, the lateral offset data of each ranging unit 200 relative to the head reference is calculated. Attitude correction is performed to obtain corrected offset data, which compensates for the vertical elevation component error caused by lateral offset in the tilted state. Subsequently, the system combines the roll angle to perform secondary attitude correction on the superposition result of the aforementioned corrected height data and corrected offset data, and solves to obtain the final height data that conforms to the actual spatial position relationship. The calculation formula is: Finally, the total station prism 420 reference elevation is output from reference parameter unit 400. As a unified elevation benchmark for the entire region, it is based on the complete elevation calculation formula: By successively subtracting the final height data and the corrected distance measurement data from the baseline elevation data, the final distance measurement data corresponding to each distance measurement unit 200 is accurately obtained. This enables high-precision elevation calculation for a single detection point.

[0071] In this embodiment, by layering and correcting the attitude errors of the original ranging, installation height, and lateral offset, the core technical pain points of non-perpendicular ultrasonic ranging direction and non-coincidence of the spatial position of prism 420 elevation benchmark and ranging unit 200 when the mounting frame is tilted are specifically addressed. Simultaneously, the final calculation is completed based on a unified prism 420 reference elevation, ensuring that the elevation calculation benchmarks of all ranging units 200 are from the same source and the correction logic is unified. This significantly improves the data consistency and spatial matching degree of synchronous measurements by multi-probe arrays, and significantly enhances the accuracy and stability of road elevation acquisition under complex road conditions and dynamic tilting conditions.

[0072] In some implementations, the above-mentioned method for obtaining road elevation data further includes the following steps: Using the probe fast frame timestamp generated by the control unit 500 as a unified timing reference, interpolation and alignment processing is performed on the detection data at different sampling frequencies to achieve timing synchronization of all measurement data (including raw distance measurement data, pitch angle, roll angle, heading increment data, absolute heading data, and reference elevation data).

[0073] In this embodiment, for multi-source asynchronous measurement data such as GNSS data output by the reference parameter unit 400, absolute heading data, IMU heading increment data output by the attitude detection unit 300, and total station reference elevation data, the system establishes independent time-series caches for each type of data, storing them in order according to their original timestamps. For the target fast frame sampling time... The system retrieves two sets of sample data corresponding to the sampling time of the target fast frame from the cache queue, and records them as the previous sample timestamps. Post-sample timestamp and the corresponding northward coordinates at that time. , Eastward coordinates , The system first calculates the time weighting coefficient. The calculation formula is: Then, the precise planar coordinates corresponding to the target time are obtained through weighted interpolation. The coordinate interpolation calculation formula is as follows: 、 , ( , () is used for interpolation. Through the above-mentioned time-series interpolation alignment method, the low-frequency reference data and the high-frequency attitude and ranging data are uniformly matched to the same sampling time, realizing accurate time-series synchronization of ranging data, attitude parameters, reference coordinates and elevation reference data, providing time-consistent basic data for subsequent attitude fusion, coordinate calculation and elevation correction.

[0074] It should be noted that there are various methods of timing synchronization, and this application does not make any specific limitations.

[0075] In some implementations, the above-mentioned method for obtaining road elevation data further includes the following steps: An angle-normalized interpolation algorithm is used to interpolate and correct heading data that jumps between 0° and 360°, so as to achieve continuous real-time heading data.

[0076] In this embodiment, the heading angles output by the attitude detection unit 300 and the reference parameter unit 400 exhibit a critical jump characteristic between 0° and 360°. If conventional linear interpolation is directly used, a small jump from 359° to 1° is easily misjudged as a large reverse rotation of 358°. Therefore, the system employs a dedicated angle normalization interpolation algorithm to perform heading interpolation calculations. First, the heading angle difference between consecutive time points is normalized. The angle difference calculation formula is as follows: ,Should wrap The function can normalize the heading angle difference to a reasonable range of -180° to 180°. This is combined with the time weighting coefficients obtained from the aforementioned time alignment. α The interpolation formula for the heading angle at the target time is as follows: This step is done through wrap The function normalizes the interpolated heading angle to the standard range of 0°~360°. By using angle normalization interpolation, the problem of interpolation distortion caused by critical jumps in heading angle is completely solved, ensuring that the heading angle data is continuous and smooth at any sampling time, and providing accurate heading parameters for subsequent 200-coordinate decomposition and attitude fusion correction of the ranging unit.

[0077] In some implementations, the above-mentioned method for obtaining road elevation data further includes the following steps: Measurement data is collected when the actual displacement of the mounting bracket exceeds a preset movement distance threshold.

[0078] In this embodiment, the system does not use a data acquisition mode that saves measurement data at fixed time intervals. Instead, it uses the actual distance the device moves as the trigger for data collection. The system records the center coordinates of the last valid data point in real time. P_last ( N_last,E_last (and the center coordinates of the current candidate acquisition time) P_now ( N_now,E_nowThe equipment displacement is calculated in real time using the Euclidean distance formula. The formula is as follows: The system has a built-in configurable distance threshold. D_threshold The sampling interval can be set to different values ​​such as 10cm or 20cm according to the road detection accuracy requirements. When the real-time calculated moving distance meets... D ≥ D_threshold When the system determines that the device has completed a valid displacement, it simultaneously saves the complete set of measurement data corresponding to all ranging units 200 at the current moment. If the real-time movement distance does not reach the preset distance threshold, it is determined to be an invalid small displacement, the current data frame is skipped, and no data is stored, thus realizing the adaptive automatic sampling function based on displacement increment.

[0079] In this embodiment, an automatic sampling algorithm based on a movement distance threshold is adopted, which can solve the technical problems of uneven measurement point density, data redundancy, or sparse and missed sampling caused by uneven vehicle speed in the traditional fixed-time sampling mode. By calculating the planar displacement of the equipment in real time and matching the distance threshold to trigger sampling, it can adapt to complex movement conditions such as uniform speed, variable speed, and pause, and achieve uniform and consistent spacing of measurement points along the entire road.

[0080] In some implementations, the above-mentioned method for obtaining road elevation data further includes the following steps: For each frame of data to be stored (which can be understood as unverified measurement data), a multi-dimensional pre-quality verification is performed. If the verification meets the preset quality inspection requirements, the measurement data is obtained.

[0081] In this implementation, before each frame of data is collected and formally stored and archived, the system automatically triggers a full-dimensional data quality gating verification mechanism to determine the legality of each type of collected parameters and calculation results. Specific verification dimensions may include: Check whether there is valid data acquisition in the effective channel mask of the ranging unit 200 probe, and rule out probe no return or abnormal data null value; Verify that the RTK data on both the left and right sides are fixed solutions to ensure that the accuracy level of the GNSS positioning data meets the standard. Verify the data integrity of the GNSS interpolation window and heading interpolation window to ensure that the data source for time-series interpolation calculations is complete and without any missing data. Check for transmission timeouts and frame loss issues in IMU attitude data and total station elevation data; Verify whether the installation offset parameters of the intermediate ranging unit 200 are valid and legal, and avoid coordinate calculation errors caused by abnormal configuration parameters; Finally, verify whether the ground elevation compensation calculation results are complete and valid.

[0082] The system only determines the current frame data as valid data and saves it normally when all verification items pass; if any verification fails, the abnormal pause mechanism is triggered, the current abnormal data frame is discarded, the current data archiving is paused, and abnormal data is prevented from participating in the generation of elevation results.

[0083] In this embodiment, multi-dimensional data quality gating and anomaly pause algorithm are used to achieve pre-screening and precise quality control of road elevation data collection. This solves the problems of traditional collection methods being unable to identify data anomalies, missing parameters, and positioning failures in real time, and prevents invalid and erroneous data from being mixed into the final measurement results.

[0084] The road elevation data acquisition method provided in this application can be executed by a road elevation data acquisition device. This application uses the example of a road elevation data acquisition device executing the method to illustrate the road elevation data acquisition device provided in this application.

[0085] This application embodiment also provides a road elevation data acquisition device, applied to the road elevation data acquisition system as described above. The road elevation data acquisition device includes: The first data acquisition module is used to acquire the raw distance measurement data measured by each distance measuring unit 200. All distance measuring units 200 are arranged vertically towards the ground. The second data acquisition module is used to acquire pitch angle, roll angle, and heading increment data measured by the attitude detection unit 300; The third data acquisition module is used to acquire the absolute heading data and reference elevation data measured by the reference parameter unit 400; The real-time heading determination module is used to determine the real-time heading angle based on the heading increment data and absolute heading data collected by the attitude detection unit 300. The ranging coordinate determination module is used to determine the ranging coordinate data of each ranging unit 200 based on the front end reference on the acquisition beam 110 and the real-time heading angle. The distance measurement data determination module is used to determine the final distance measurement data corresponding to each distance measurement unit 200 based on the installation height data, original distance measurement data, and lateral offset data relative to the first end reference in the length direction of the acquisition beam 110, and in combination with the reference elevation data, pitch angle, and roll angle. The result generation module is used to generate the final elevation distance measurement result based on the final distance measurement data and distance measurement coordinate data corresponding to each distance measurement unit 200.

[0086] This application also provides an electronic device, including: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, it implements the road elevation data acquisition method as described above. The road elevation data acquisition device provided in this application can implement all the processes implemented in the above-described road elevation data acquisition method embodiments and achieve the same beneficial effects. To avoid repetition, it will not be described again here.

[0087] This application also provides a computer-readable storage medium storing computer-executable instructions that are executed by a processor or control module, causing the processor to perform the road elevation data acquisition method described above, for example, the method described above.

[0088] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0089] The functional blocks shown in the above structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. The programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM, floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0090] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0091] It should also be noted that the user information involved in this application, including but not limited to user device information and user personal information, and the data, including but not limited to data used for analysis, stored data, and displayed data, are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of related data must comply with relevant regulations. The acquisition, storage, use, and processing of data in the technical solution of this application all comply with the relevant provisions of national laws and regulations.

[0092] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus, and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0093] The above are merely specific embodiments of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A road elevation data acquisition system, characterized in that, include: Mounting frame with a data collection beam; Multiple ranging units are vertically mounted on the acquisition beam and arranged in the same direction. Each ranging unit is used to acquire raw ranging data. An attitude detection unit, mounted on the mounting bracket, is used to acquire pitch angle, roll angle, and heading increment data; A reference parameter unit, mounted on the mounting frame, is used to acquire absolute heading data and reference elevation data; The control unit, electrically connected to the attitude detection unit, the reference parameter unit, and each ranging unit, determines the real-time heading angle based on the heading increment data and absolute heading data collected by the attitude detection unit. Using the head reference set on the acquisition beam as the origin of the plane coordinate calculation, it retrieves the lateral offset data of each ranging unit relative to the head reference, combines it with the currently calculated real-time heading angle, performs azimuth conversion on the lateral offset, converts the relative offset in the beam direction into a plane coordinate increment in the geographic coordinate system, and calculates the geographic coordinate increment of each ranging unit sequentially based on the real-time plane coordinates of the head reference superimposed with the corresponding plane coordinate increment. The system retrieves the fixed installation height data and lateral offset data of each ranging unit relative to the head reference, which are stored in the system. This data is combined with the real-time acquired raw ranging data and a reference elevation data is introduced to construct an elevation reference. The system then matches the real-time acquired pitch and roll angles to complete all-around attitude compensation correction, and calculates the final ranging data corresponding to each ranging unit. The final ranging data of each ranging unit after correction is then correlated and matched with the corresponding ranging coordinate data to form complete sampling data. Following the temporal sequence of the equipment's movement along the road, multiple sets of continuously acquired complete sampling data are used to form a continuous and complete dataset, and the final elevation ranging result is generated.

2. The road elevation data acquisition system according to claim 1, characterized in that, The plurality of ranging units are arranged linearly along the length of the acquisition beam.

3. The road elevation data acquisition system according to claim 1, characterized in that, The mounting frame is also equipped with a leveling bracket at its bottom, which is used to adjust the posture of the mounting frame.

4. The road elevation data acquisition system according to claim 1, characterized in that, The reference parameter unit includes: Both GNSS modules are mounted on the acquisition beam and electrically connected to the control unit. A prism, mounted on the acquisition beam via a column, is used to be captured by the tracking robot to obtain the baseline elevation data and transmit it to the control unit.

5. A method for acquiring road elevation data, characterized in that, Applied to the road elevation data acquisition system as described in any one of claims 1 to 4, the method includes the following steps: The raw ranging data measured by each ranging unit is obtained, and the multiple ranging units are all arranged vertically towards the ground; Acquire pitch, roll, and heading increment data measured by the attitude detection unit; Obtain the absolute heading data and reference elevation data of the reference parameter unit measurement; The real-time heading angle is determined based on the heading increment data and the absolute heading data collected by the attitude detection unit. Based on the reference at the head end on the acquisition beam, the ranging coordinate data of each ranging unit is determined according to the real-time heading angle; Based on the installation height data corresponding to each ranging unit, the original ranging data, and the lateral offset data relative to the first end reference in the length direction of the acquisition beam, and in combination with the reference elevation data, the pitch angle, and the roll angle, the final ranging data corresponding to each ranging unit is determined. The final elevation distance measurement result is generated based on the final distance measurement data and distance measurement coordinate data corresponding to each distance measurement unit.

6. The method for acquiring road elevation data according to claim 5, characterized in that, The step of determining the real-time heading angle based on the heading increment data and the absolute heading data collected by the attitude detection unit includes: The cumulative value of the heading increment output by the attitude detection unit between the current time and the previous time is determined as the heading increment data; The absolute heading data is superimposed with the cumulative heading increment to obtain the real-time heading angle corresponding to the current moment.

7. The method for acquiring road elevation data according to claim 5, characterized in that, The determination of ranging coordinate data for each ranging unit, based on the reference point at the front end of the acquisition beam and the real-time heading angle, includes: Obtain the reference plane coordinates of the first end reference on the acquisition beam at the current moment; Acquire the lateral offset data of each ranging unit relative to the head reference in the length direction of the acquisition beam; Based on the real-time heading angle, the lateral offset data of each ranging unit is decomposed into planar coordinate increments; Based on the reference plane coordinates and the plane coordinate increments corresponding to each ranging unit, the ranging coordinate data corresponding to each ranging unit is determined.

8. The method for acquiring road elevation data according to claim 5, characterized in that, The final ranging data corresponding to each ranging unit is obtained through the following steps: The original ranging data is corrected based on the pitch angle and the roll angle to obtain corrected ranging data; The installation height data is corrected based on the roll angle to obtain corrected height data; Based on the roll angle, the lateral offset data of the ranging unit in the length direction of the acquisition beam is corrected to obtain corrected offset data; Based on the roll angle, the sum of the corrected height data and the corrected offset data is corrected to obtain the final height data; The final distance measurement data is obtained by subtracting the corrected distance measurement data from the baseline elevation data and then subtracting the final height data.

9. A road elevation data acquisition device, characterized in that, The road elevation data acquisition device, applied to the road elevation data acquisition system as described in any one of claims 1 to 4, comprises: The first data acquisition module is used to acquire the raw distance measurement data measured by each distance measuring unit, and the multiple distance measuring units are all arranged vertically towards the ground. The second data acquisition module is used to acquire pitch angle, roll angle, and heading increment data measured by the attitude detection unit; The third data acquisition module is used to acquire the absolute heading data and benchmark elevation data of the benchmark parameter unit measurement; The real-time heading determination module is used to determine the real-time heading angle based on the heading increment data and the absolute heading data collected by the attitude detection unit. The ranging coordinate determination module is used to determine the ranging coordinate data of each ranging unit based on the front end reference on the acquisition beam and the real-time heading angle. The ranging data determination module is used to determine the final ranging data corresponding to each ranging unit based on the installation height data corresponding to each ranging unit, the original ranging data, and the lateral offset data of the acquisition beam relative to the first end reference, and in combination with the reference elevation data, the pitch angle, and the roll angle. The result generation module is used to generate the final elevation distance measurement result based on the final distance measurement data and distance measurement coordinate data corresponding to each distance measurement unit.

10. An electronic device, characterized in that, Electronic devices include processors and memory storing computer program instructions; When the processor executes a computer program, it implements the road elevation data acquisition method as described in any one of claims 5 to 8.

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