阅读说明：本技术 一种基于激光测距技术的地图测绘方法 (Map mapping method based on laser ranging technology ) 是由 钱琳 于 2021-08-10 设计创作，主要内容包括：本发明公开了一种基于激光测距技术的地图测绘方法,包括搭载在无人机上的激光测距仪、正射相机和数据传输模块,以及地面上的若干个GPS基准站和数据处理计算机,无人机上搭载的蓄电池组能够为上述各个元件供电,无人机上的数据传输模块能够与地面上的数据处理计算机进行实时数据传输,包括以下步骤：S1、初步勘测；S2、测绘区域划分；S3、架设基准站；S4、单元区域测绘；S5、数据整合。该一种基于激光测距技术的地图测绘方法,无人机能够带动激光测距仪进行空中测绘,在能够确保测绘不受地形影响的同时,也能够使激光测距仪实时读取无人机下方GPS基准站的三维坐标,降低了测绘人员的工作负担,缩短了测绘周期,提高了测绘效率。(The invention discloses a mapping method based on a laser ranging technology, which comprises a laser range finder, an orthographic camera and a data transmission module which are carried on an unmanned aerial vehicle, a plurality of GPS reference stations and a data processing computer which are arranged on the ground, wherein a storage battery pack carried on the unmanned aerial vehicle can supply power for each element, and the data transmission module on the unmanned aerial vehicle can transmit real-time data with the data processing computer on the ground, and the mapping method comprises the following steps: s1, primary surveying; s2, dividing a mapping area; s3, erecting a reference station; s4, mapping the unit area; and S5, integrating data. According to the map mapping method based on the laser ranging technology, the unmanned aerial vehicle can drive the laser range finder to conduct aerial mapping, the mapping can be guaranteed not to be influenced by the terrain, meanwhile, the three-dimensional coordinate of the GPS base station below the unmanned aerial vehicle can be read in real time by the laser range finder, the workload of mapping personnel is reduced, the mapping period is shortened, and the mapping efficiency is improved.)

1. A map mapping method based on a laser ranging technology is characterized in that: including carrying on laser range finder, orthographic camera and the data transmission module on unmanned aerial vehicle to and subaerial a plurality of GPS reference station and data processing computer, the storage battery who carries on unmanned aerial vehicle can be for above-mentioned each component power supply, and the data transmission module on unmanned aerial vehicle can carry out real-time data transmission with subaerial data processing computer.

2. The mapping method based on the laser ranging technology as claimed in claim 1, wherein: the method comprises the following steps:

s1, carrying out preliminary survey on the to-be-surveyed area by the unmanned aerial vehicle, shooting image measurement data of the to-be-surveyed area and the approximate position of the broken point by the orthographic camera, and transmitting the data to the data processing computer on the ground by the data transmission module;

s2, dividing a mapping area, combining the obtained image measurement data with the data of the broken points by a data processing computer, automatically generating a digital elevation model A from the data through PhotoSacan software, and dividing the data into a plurality of unit areas with the same size according to the size of the actual mapping area to be detected;

s3, erecting a reference station, respectively placing the GPS reference station at the measurement control point in each different unit area, and starting the GPS reference station to input the coordinate value of the measurement control point;

s4, surveying cell areas, namely setting surveying and mapping parameters of the unmanned aerial vehicle according to information of each cell area in the digital elevation model, surveying and mapping in each cell area in sequence, starting aerial photogrammetry on the cell area by a laser range finder and an orthographic camera on the unmanned aerial vehicle, generating a digital elevation model B from measured data in the cell area through PhotoSacan software, and performing analogy and perfection with the digital elevation model A in S2;

s5, integrating data, wherein after the unmanned aerial vehicle finishes the surveying and mapping of all unit areas through the laser range finder and the orthographic camera, the data processing computer automatically integrates the digital elevation models B of all the unit areas, and then the vector map of the whole surveying and mapping area can be obtained.

3. The mapping method based on the laser ranging technology as claimed in claim 1, wherein: and the route of the unmanned aerial vehicle in the S1 for carrying out primary survey on the area to be drawn is an S-shaped route.

4. The mapping method based on the laser ranging technology as claimed in claim 1, wherein: the unit areas divided according to the actual size of the drawing area to be measured in S2 include the broken points in the whole drawing area to be measured.

5. The mapping method based on the laser ranging technology as claimed in claim 1, wherein: the GPS reference station in the S3 can mutually transmit photon signals with a laser range finder mounted on the unmanned aerial vehicle.

6. The mapping method based on the laser ranging technology as claimed in claim 1, wherein: the mapping parameters in the S4 comprise the flight line, the flight height and the flight speed of the unmanned aerial vehicle, the photographing gap of the orthographic camera and the photographing parameters.

Technical Field

The invention relates to the technical field of map surveying and mapping, in particular to a map surveying and mapping method based on a laser ranging technology.

Background

The mapping map is a map, which represents various scenery and coordinates on the ground by applying a symbolic system and a mapping comprehensive principle according to a certain mathematical rule, and consists of three parts, namely a mathematical basis, a mapping object and a drawing surface modification.

Present most common survey and drawing mode, it is most all that the surveying personnel passes through the satellite map as supplementary, the geological point of the required survey and drawing of standard on the satellite map, and survey and draw the back on the spot to every geological point, integrate all survey and drawing gained data, obtain this to await measuring and draw regional vector map, this kind of survey and drawing mode is whole to need the surveying personnel to participate in, not only the survey and drawing cycle is longer, survey and drawing efficiency is low, and the manual work is surveyed and drawn to the actual data of each geological point, its survey and drawing data has great deviation with actual data, and then influence final survey and drawing accuracy. Accordingly, the present application provides a mapping method based on a laser ranging technique.

Disclosure of Invention

The invention aims to solve the defects in the prior art and provides a mapping method based on a laser ranging technology.

In order to achieve the purpose, the invention adopts the following technical scheme:

a map mapping method based on a laser ranging technology comprises a laser range finder, an orthographic camera and a data transmission module which are carried on an unmanned aerial vehicle, a plurality of GPS reference stations and a data processing computer which are arranged on the ground, a storage battery pack carried on the unmanned aerial vehicle can supply power for all the elements, and the data transmission module on the unmanned aerial vehicle can transmit real-time data with the data processing computer on the ground.

Preferably, the method comprises the following steps:

s1, carrying out preliminary survey on the to-be-surveyed area by the unmanned aerial vehicle, shooting image measurement data of the to-be-surveyed area and the approximate position of the broken point by the orthographic camera, and transmitting the data to the data processing computer on the ground by the data transmission module;

s2, dividing a mapping area, combining the obtained image measurement data with the data of the broken points by a data processing computer, automatically generating a digital elevation model A from the data through PhotoSacan software, and dividing the data into a plurality of unit areas with the same size according to the size of the actual mapping area to be detected;

s3, erecting a reference station, respectively placing the GPS reference station at the measurement control point in each different unit area, and starting the GPS reference station to input the coordinate value of the measurement control point;

s4, surveying cell areas, namely setting surveying and mapping parameters of the unmanned aerial vehicle according to information of each cell area in the digital elevation model, surveying and mapping in each cell area in sequence, starting aerial photogrammetry on the cell area by a laser range finder and an orthographic camera on the unmanned aerial vehicle, generating a digital elevation model B from measured data in the cell area through PhotoSacan software, and performing analogy and perfection with the digital elevation model A in S2;

s5, integrating data, wherein after the unmanned aerial vehicle finishes the surveying and mapping of all unit areas through the laser range finder and the orthographic camera, the data processing computer automatically integrates the digital elevation models B of all the unit areas, and then the vector map of the whole surveying and mapping area can be obtained.

Preferably, the route of the unmanned aerial vehicle in S1 for performing the preliminary survey on the area to be painted is an S-shaped route.

Preferably, the unit area divided according to the actual size of the drawing area to be measured in S2 includes the fragment point in the whole drawing area to be measured.

Preferably, the GPS reference station in S3 is capable of transmitting a photon signal to and from a laser range finder mounted on the drone.

Preferably, the mapping parameters in S4 include the flight line, flight height and flight speed of the drone, the photographing gap of the ortho-camera and the photographing parameters.

The invention has the following beneficial effects:

1. unmanned aerial vehicle can drive laser range finder and carry out aerial survey and drawing, when can guaranteeing that the survey and drawing does not receive the complicated influence of topography, also can make laser range finder read the accurate three-dimensional coordinate of unmanned aerial vehicle below GPS reference station in real time, reduced surveying personnel's work burden, shortened the survey and drawing cycle, improved survey and drawing efficiency, also reduced the survey and drawing cost simultaneously.

2. Photoscan software in the data processing computer can be with whole area of drawing that awaits measuring divide into a plurality of unit areas of equal size, through surveying and mapping alone to a plurality of unit areas to integrate after the survey and drawing is accomplished, effectively solved the whole regional problem that makes the survey and drawing appear great error easily of direct survey and drawing, improved the survey and drawing accuracy.

Detailed Description

Example 1

A mapping method based on a laser ranging technology comprises the following steps:

s1, collecting and analyzing data of the area to be mapped, determining the survey key mapping content of the area to be mapped, performing remote observation on the area to be mapped, and selecting geological points needing short-distance survey, wherein if the area to be mapped is a mountain area, the highest place in the area to be mapped is selected as a remote observation point, and the visual field of the area can cover the whole area to be mapped; if the river is a river area, selecting the open visual field positions of two banks of the river as remote observation points;

s2, combining with the satellite map, positioning the selected geological points on the satellite map, analyzing the distance, the terrain and the passable conditions among the geological points, and determining a surveying and mapping travel route, wherein the satellite map can use terminals such as a mobile phone and a computer as positioning tools;

s3, referring to a satellite map, surveying and mapping each geological point mainly by taking a surveying and mapping travel route, wherein the surveying and mapping content comprises elevation data, longitude and latitude and landform of the geological point, observing and recording the geological point, referring to the satellite map and rechecking the geological point, and adjusting the positioning of the geological point on the satellite map;

and S4, surveying, observing and recording different local particles in sequence according to the steps in S3, integrating the data by combining the height data, longitude and latitude and landform among the local particles on the basis of a satellite map, finally obtaining a vector map of the area to be surveyed, and taking the terminal navigation function in S2 as auxiliary guidance for surveying and mapping the travel route.

In this embodiment, whole journey survey and drawing content needs the manual work to go on, including observing, advancing and carrying out the survey and drawing, the survey and drawing cycle is longer, and surveying personnel's work burden is great, measures each data of garrulous portion point through the manual work, and data error is great, and the accuracy that leads to final mapping result is lower, and survey and drawing inefficiency.

Example 2

Different from the embodiment 1, the mapping method based on the laser ranging technology comprises a laser range finder, an orthographic camera and a data transmission module which are carried on an unmanned aerial vehicle, and a plurality of GPS reference stations and a data processing computer which are arranged on the ground, wherein a storage battery pack carried on the unmanned aerial vehicle can supply power for each element, and the data transmission module on the unmanned aerial vehicle can transmit real-time data with the data processing computer on the ground.

The method comprises the following steps: s1, carrying out preliminary survey on the to-be-surveyed area by the unmanned aerial vehicle, shooting image measurement data of the to-be-surveyed area and the approximate position of the broken point by the orthographic camera, and transmitting the data to the data processing computer on the ground by the data transmission module;

s2, dividing a mapping area, combining the obtained image measurement data with the data of the broken points by a data processing computer, automatically generating a digital elevation model A from the data through PhotoSacan software, and dividing the data into a plurality of unit areas with the same size according to the size of the actual mapping area to be detected;

s3, erecting a reference station, respectively placing the GPS reference station at the measurement control point in each different unit area, and starting the GPS reference station to input the coordinate value of the measurement control point;

s4, surveying cell areas, namely setting surveying and mapping parameters of the unmanned aerial vehicle according to information of each cell area in the digital elevation model, surveying and mapping in each cell area in sequence, starting aerial photogrammetry on the cell area by a laser range finder and an orthographic camera on the unmanned aerial vehicle, generating a digital elevation model B from measured data in the cell area through PhotoSacan software, and performing analogy and perfection with the digital elevation model A in S2;

s5, integrating data, wherein after the unmanned aerial vehicle finishes the surveying and mapping of all unit areas through the laser range finder and the orthographic camera, the data processing computer automatically integrates the digital elevation models B of all the unit areas, and then the vector map of the whole surveying and mapping area can be obtained.

The air route of the unmanned aerial vehicle in the S1 for carrying out preliminary survey in the area of drawing to be measured is S-shaped air route, the unit area of dividing according to the area of drawing to be measured actual size in S2, including the broken points in the whole area of drawing to be measured, GPS reference station in S3 can transmit photon signal with the laser range finder who carries on the unmanned aerial vehicle each other, the mapping parameter in S4 includes unmanned aerial vehicle flight route, flying height and flying speed, the clearance of shooing and the parameter of shooing of orthographic camera.

In this embodiment, unmanned aerial vehicle can drive laser range finder and fix a position with subaerial GPS reference station in the air, and survey and draw three-dimensional data, can be regardless of the complicated condition influence of topography, it surveys on the spot to need not surveying personnel, the survey and drawing cycle has been shortened greatly, the efficiency of surveying and drawing is improved, economic cost is reduced, unmanned aerial vehicle drives laser range finder and the data that the orthophoto camera survey and drawing reachs simultaneously, can draw the region to be measured and divide whole into a plurality of unit region through PhotoScan be through PhotoScan software in the data processing computer, and through surveying and drawing the back to the unit region, integrate the survey and drawing data in a plurality of unit regions, and then can ensure the accuracy of surveying and drawing data in the unit region, the regional holistic survey and drawing accuracy of waiting to be measured and drawing has been improved.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.