阅读说明：本技术 一种非接触式移动测量系统及方法 (Non-contact mobile measurement system and method ) 是由 章迪 于 2021-09-17 设计创作，主要内容包括：本发明涉及一种非接触式移动测量系统及方法。非接触式移动测量系统包括主传感器、主载体、合作目标、辅载体四个部分,主传感器用于对目标进行非接触式测量,主载体用于搭载主传感器,合作目标用于辅助主传感器进行测量,辅载体用于搭载合作目标。本发明同时提供了一种效率高且成本低的方法,能提高非接触式移动测量的精度、效率和性价比。(The invention relates to a non-contact mobile measurement system and a non-contact mobile measurement method. The non-contact mobile measurement system comprises four parts, namely a main sensor, a main carrier, a cooperative target and an auxiliary carrier, wherein the main sensor is used for carrying out non-contact measurement on the target, the main carrier is used for carrying the main sensor, the cooperative target is used for assisting the main sensor to carry out measurement, and the auxiliary carrier is used for carrying the cooperative target. The invention also provides a method with high efficiency and low cost, which can improve the precision, efficiency and cost performance of the non-contact mobile measurement.)

1. A method of non-contact movement measurement, comprising the steps of:

step 1, in a target area, controlling a main carrier to operate according to a certain path S, and starting a main sensor to acquire spatial data;

step 2, controlling the auxiliary carrier to synchronously run with the main carrier along a certain path L, enabling a carried cooperative target to be in the measuring range of the main sensor, starting a positioning sensor of the cooperative target, and measuring and recording the position of the cooperative target;

step 3, in the measuring process or after the measurement is finished, matching the data which are acquired by the main sensor and contain the feedback signals of the cooperative targets with the position measurement data of the cooperative targets to acquire the accurate position information of the feedback signals of the cooperative targets;

and 4, performing inverse calculation and correction on the spatial data acquired by the main sensor by using the accurate position information of the feedback signals of each cooperative target.

2. A method of contactless movement measurement according to claim 1, characterized in that: in the step 2, the auxiliary carrier is close to the target area to operate, the auxiliary carrier and the main carrier synchronously move in time and space, and the paths are the same or different; when necessary, the main carrier and the auxiliary carrier are properly stopped at certain spatial positions and then continue to move; and the measurement data of the main sensor and the position and posture information of the cooperative target are transmitted in real time for processing or post-processing.

3. A method of contactless movement measurement according to claim 1, characterized in that: and step 2, further measuring and recording one or more states of the cooperative target, including the speed, the acceleration and the posture of the cooperative target and the relative geometrical relationship between the cooperative target and the target object.

4. A method of contactless movement measurement according to claim 1, 2 or 3, characterized by: and 3, matching is carried out based on one or more characteristics of time, geometry, color and texture characteristics, and the position measurement data and the accurate position information of the cooperative target further comprise the relative geometric relationship from the cooperative target to the target object.

5. A non-contact mobile measurement system, characterized by: the system comprises four modules, namely a main sensor, a main carrier, a cooperative target and an auxiliary carrier;

the main sensor is used for carrying out non-contact measurement on the target and is a combination of one or more non-contact sensors;

the main carrier is used for carrying a main sensor;

the cooperative target is used for assisting the main sensor to measure, is attached with one or more positioning sensors and is used for determining the coordinates of the cooperative target in a ground measurement coordinate system, when the cooperative target appears in the measurement range of the main sensor, the main sensor can obtain a signal with obvious recognizable characteristics, and when the main sensor has multiple types, the cooperative target is a combination of one or more corresponding cooperative targets;

the auxiliary carriers are used for carrying cooperation targets, the auxiliary carriers are attached to the main carriers or separated from the main carriers, and the number of the auxiliary carriers is single or multiple.

6. A non-contact movement measurement system according to claim 5, characterized in that: the primary sensor is further attached to one or more positioning and/or attitude determination sensors for determining the spatial coordinates and/or attitude of the primary sensor.

7. A non-contact movement measurement system according to claim 5, characterized in that: the cooperative target is further attached to one or more attitude determination sensors for determining its acceleration, velocity and/or attitude.

8. A non-contact movement measurement system according to claim 5, characterized in that: and an auxiliary sensor is further mounted on the auxiliary carrier to measure the relative geometric relationship between the cooperative target and the target object, and the auxiliary sensor is used for further refining and correcting the data of the main sensor.

9. A non-contact movement measurement system according to claim 5 or 6 or 7 or 8, characterized in that: the non-contact mobile measurement system further comprises a communication module for transmitting data and a control system for coordinating the operation between the secondary carrier and the primary carrier.

Technical Field

The invention belongs to the technical field of surveying and mapping remote sensing and geographic information, and particularly relates to a non-contact mobile measurement system and method.

Background

At present, in order to improve the efficiency of spatial data acquisition, a non-contact sensor is generally carried on a mobile carrier to measure a target object, such as satellite remote sensing, manned/unmanned aerial vehicle photogrammetry, a vehicle-mounted laser radar, a mobile measurement backpack and the like. In order to obtain the accurate coordinates of each element on the target object in the ground measurement coordinate system, the precise position and posture of the non-contact sensor at the moment of signal transmission must be obtained, and there are two general ways: firstly, selecting thorns on a target object or manually laying a certain number of control points to perform back calculation; secondly, a high-precision positioning and attitude-determining system (POS) is arranged on the carrier to directly measure the position and the attitude of the carrier.

Taking aerial photogrammetry as an example, the thorn selection or arrangement of ground control points (image control points) and the measurement process thereof are often too complicated, the working efficiency is low, although the precision is guaranteed, the time and labor cost is high, the quantity is often rare, and the arrangement and measurement of the control points can not be carried out even in some areas with complex terrain, special positions or extreme environments. Although the POS does not depend on a control point, the manufacturing cost exponentially rises along with the improvement of the precision requirement, and in order to achieve ideal precision, high hardware cost is required to be faced, and for carriers such as unmanned aerial vehicles, the risk of hardware damage is high, so that the POS is difficult to popularize on a large scale. There is therefore a strong need for an efficient and cost-effective method to improve the accuracy, efficiency and cost-effectiveness of non-contact mobile measurements.

Disclosure of Invention

The invention provides a non-contact mobile measurement system and a non-contact mobile measurement method aiming at the defects of the prior art. The auxiliary carrier is used for carrying the cooperation target, so that the position precision of the spatial data can be improved, and the cost is greatly reduced compared with the cost of installing a high-precision POS system on the carrier.

In order to achieve the purpose, the technical scheme provided by the invention is a non-contact mobile measurement system which comprises a main sensor, a main carrier, a cooperative target and an auxiliary carrier.

The main sensor is used for non-contact measurement of the target, and may be a combination of one or more non-contact sensors, such as a camera, a CCD, a Lidar, a SAR, etc.

The main carrier is used for carrying main sensors, and includes but is not limited to satellites, unmanned planes, manned planes, hot air balloons, airships, vehicles, ships, robots, natural people, animals and the like.

The cooperative target is used to assist the main sensor in making measurements, and when it appears in the measurement range of the main sensor, the main sensor can be made to acquire signals with clearly identifiable characteristics, such as an optical target (e.g., dot marker) with a sharp contrast color or texture associated with a camera, a target ball, a reflector, etc. associated with a laser scanner head or Lidar, and a corner reflector, etc. associated with a SAR. When the master sensor has a plurality of types, the cooperative targets may be a combination of corresponding one or more cooperative targets. The cooperating targets may be attached to one or more positioning sensors for determining their coordinates in a terrestrial survey coordinate system, including but not limited to satellite navigation positioning systems (GNSS), Ultra Wideband (UWB), vision sensors, prisms, etc.

The auxiliary carrier is used for carrying a cooperative target, can be separated from the main carrier and can also be attached to the main carrier, and the number of the auxiliary carrier can be multiple, including but not limited to unmanned aerial vehicles, manned machines, satellites, hot air balloons, airships, vehicles, ships, robots, natural people, animals and the like.

Furthermore, the main sensor may be further attached with one or more positioning and/or attitude determination sensors, such as a satellite navigation positioning system (GNSS), Ultra Wideband (UWB), vision sensor, prism, inertial navigation, etc., for determining the spatial coordinates and/or attitude of the main sensor.

Moreover, the cooperative target may also be further attached to one or more attitude determination sensors, including but not limited to inertial navigation, gyroscopes, IMUs, accelerometers, electronic compasses, and the like, for determining acceleration, velocity, and/or attitude thereof.

In addition, the auxiliary carrier can be further provided with an auxiliary sensor to measure the relative geometric relationship between the cooperative target and the target object for further refinement and correction of the data of the main sensor, wherein the auxiliary sensor is carried by, but not limited to, an ultrasonic wave, a camera, a laser range finder, a microwave radar and the like.

Moreover, the above-mentioned non-contact mobile measurement system may further include a communication module for transmitting data and a control system for coordinating operations between the secondary carrier and the primary carrier.

The invention also provides a non-contact mobile measurement method, which comprises the following steps:

step 1, in a target area, controlling a main carrier to operate according to a certain path S, and starting a main sensor to acquire spatial data;

step 2, controlling the auxiliary carrier to synchronously run with the main carrier along a certain path L, enabling a carried cooperative target to be in the measuring range of the main sensor, starting a positioning sensor of the cooperative target, and measuring and recording the position of the cooperative target;

step 3, in the measuring process or after the measurement is finished, matching the data which are acquired by the main sensor and contain the feedback signals of the cooperative targets with the position measurement data of the cooperative targets to acquire the accurate position information of the feedback signals of the cooperative targets;

and 4, performing inverse calculation and correction on the spatial data acquired by the main sensor by using the accurate position information of the feedback signals of each cooperative target.

In step 2, the auxiliary carrier should operate as close to the target area as possible, the auxiliary carrier and the main carrier may perform synchronous motion in time and space, and the paths may be the same or different; if necessary, the main carrier and the auxiliary carrier can be properly stopped at certain spatial positions and then continue to move. The measurement data of the main sensor and the position and posture information of the cooperative target can be transmitted in real time for processing and can also be processed afterwards. One or more states of the cooperative target may be further measured and recorded, including but not limited to velocity, acceleration, attitude of the cooperative target, and the relative geometry of the cooperative target to the target object.

Furthermore, the matching in step 3 may be performed based on one or more characteristics of time, geometry, color, texture, etc. The position measurement data and the precise position information of the cooperative target may further include a relative geometric relationship of the cooperative target to the target object.

Compared with the prior art, the invention has the following advantages: 1) the auxiliary carrier is used for carrying the cooperative target, so that the defects of rare control point quantity, difficulty in arrangement and complexity in measurement in the traditional method are overcome, and the measurement precision and the working efficiency are greatly improved; 2) the position of the cooperative target is determined without using expensive high-precision POS, the hardware cost and the damage risk can be greatly reduced, and the measurement precision and reliability can be greatly increased.

Drawings

Fig. 1 is a schematic diagram of a system configuration according to an embodiment of the present invention, in which a is a main sensor, B is a main carrier, C is a cooperative target, D is an auxiliary carrier, and E is a positioning and attitude determination sensor for the cooperative target.

Fig. 2 is a schematic view of an aerial photogrammetry system using an unmanned aerial vehicle as a main carrier and an auxiliary carrier according to an embodiment of the present invention, where 11 is a camera, 12 is an unmanned aerial vehicle, 21 is an image control point marker, 22 is a GNSS, 23 is an unmanned aerial vehicle, and 24 is a laser range finder.

Fig. 3 is a schematic view of a configuration of an airborne lidar measurement system using an unmanned aerial vehicle as a primary carrier and a secondary carrier, where 11 is a lidar, 12 is an unmanned aerial vehicle, 21 is a laser reflector, 22 is a GNSS, and 23 is an unmanned aerial vehicle.

Detailed Description

The invention provides a non-contact mobile measurement system and a non-contact mobile measurement method, which utilize an auxiliary carrier to carry a cooperative target, overcome the defects of rare control point number, difficult arrangement and complicated measurement in the traditional method, improve the solving precision and greatly reduce the cost compared with the method of installing a high-precision POS system on the carrier.

The technical solution of the present invention is further explained with reference to the drawings and the embodiments.

As shown in fig. 1, the present invention provides a non-contact movement measurement system, which includes four parts, namely, a main sensor, a main carrier, a cooperative target, and an auxiliary carrier.

The main sensor is used for non-contact measurement of the target, and may be a combination of one or more non-contact sensors, such as a camera, a CCD, a Lidar, a SAR, etc. The host sensor may further be attached with one or more positioning and/or attitude determination sensors, such as a satellite navigation positioning system (GNSS), Ultra Wideband (UWB), vision sensors, prisms, inertial navigation, etc., for determining the spatial coordinates and/or attitude of the host sensor.

The main carrier is used for carrying main sensors, and includes but is not limited to satellites, unmanned planes, manned planes, hot air balloons, airships, vehicles, ships, robots, natural people, animals and the like.

The cooperative target is used to assist the main sensor in making measurements, and when it appears in the measurement range of the main sensor, the main sensor can be made to acquire signals with clearly identifiable characteristics, such as an optical target (e.g., dot marker) with a sharp contrast color or texture associated with a camera, a target ball, a reflector, etc. associated with a laser scanner head or Lidar, and a corner reflector, etc. associated with a SAR. When the master sensor has a plurality of types, the cooperative targets may be a combination of corresponding one or more cooperative targets. The cooperative target needs to be attached with one or more positioning sensors for determining its coordinates in a terrestrial survey coordinate system, including but not limited to satellite navigation positioning system (GNSS), Ultra Wideband (UWB), vision sensor, prism, etc.; one or more attitude determination sensors, including but not limited to inertial navigation, gyroscopes, IMUs, accelerometers, electronic compasses, and the like, may also be further attached for determining acceleration, velocity, and/or attitude thereof.

The auxiliary carrier is used for carrying a cooperative target, can be separated from the main carrier and can also be attached to the main carrier, and the number of the auxiliary carrier can be multiple, including but not limited to unmanned aerial vehicles, manned machines, satellites, hot air balloons, airships, vehicles, ships, robots, natural people, animals and the like. The auxiliary carrier can be further provided with an auxiliary sensor to measure the relative geometric relationship between the cooperative target and the target object for further refinement and correction of the data of the main sensor, wherein the auxiliary sensor comprises but is not limited to ultrasonic waves, a camera, a laser range finder, a microwave radar and the like.

The whole non-contact mobile measurement system can further comprise a communication module for transmitting data and a control system for coordinating the operation between the auxiliary carrier and the main carrier.

The embodiment of the invention also provides a non-contact mobile measurement method, which comprises the following steps:

step 1, in a target area, controlling a main carrier to operate according to a certain path S, and starting a main sensor to collect spatial data.

And 2, controlling the auxiliary carrier to synchronously run with the main carrier along a certain path L, enabling the carried cooperative target to be in the measuring range of the main sensor, starting a positioning sensor of the cooperative target, and measuring and recording the position of the cooperative target.

The auxiliary carrier should be run as close to the target area as possible. The auxiliary carrier can move synchronously with the main carrier in time and space, and the paths can be the same or different; if necessary, the main carrier and the auxiliary carrier can be properly stopped at certain spatial positions and then continue to move. The measurement data of the main sensor and the position and posture information of the cooperative target can be transmitted in real time for processing and can also be processed afterwards. One or more states of the cooperative target may be further measured and recorded, including but not limited to velocity, acceleration, attitude of the cooperative target, and the relative geometry of the cooperative target to the target object.

And 3, matching the data which are acquired by the main sensor and contain the feedback signals of the cooperative targets with the position measurement data of the cooperative targets during or after the measurement is finished, and acquiring the accurate position information of the feedback signals of the cooperative targets.

Matching may be based on one or more characteristics of time, geometry, color, texture, etc. The position measurement data and the precise position information of the cooperative target may further include a relative geometric relationship of the cooperative target to the target object.

And 4, performing inverse calculation and correction on the spatial data acquired by the main sensor by using the accurate position information of the feedback signals of each cooperative target.

Example one

As shown in fig. 2, the target is the ground, the main carrier adopts an unmanned aerial vehicle 12, the main sensor adopts a digital camera 11, the auxiliary carrier adopts an unmanned aerial vehicle 23, the cooperative target adopts an image control point marker 21, and the unmanned aerial vehicle 23 is additionally provided with a GNSS RTK locator 22 and a laser range finder 24, wherein the GNSS RTK locator 22 is used for determining the spatial coordinate of the image control point marker 21, and the laser range finder 24 is used for determining the relative height from the image control point marker 21 to the ground.

Step 1, in a target area, calculating a flight height H and a designed route S according to the requirements of a mapping scale, camera parameters, a course and a lateral overlapping degree, controlling a main unmanned aerial vehicle 12 to fly according to the route S, starting a digital camera 11 to shoot photos, and recording the shooting time of each photo to be accurate to millisecond.

Step 2, controlling the auxiliary unmanned aerial vehicle 23 to fly along a flight path L which is parallel to the flight path S of the main unmanned aerial vehicle 12 and has a flight height h, so that the image control point mark 21 carried by the auxiliary unmanned aerial vehicle is always within the shooting range of the digital camera 11 carried by the main unmanned aerial vehicle 12, h is as small as possible so as to be close to the ground, and meanwhile, an obstacle is avoided, and h can be dynamically adjusted; starting the GNSS RTK positioner 22 to measure and record the position of the image control point mark 21, and simultaneously starting the laser range finder 24 to record the measured value; all measurements contain time information accurate to milliseconds.

Step 3, after the measurement is finished, time matching is carried out on the photos which are obtained by the digital camera 11 and contain the images of the image control point markers 21 and the position data of the image control point markers 21, interpolation is carried out if necessary, and accurate coordinates of the images of the image control point markers 21 in the photos are obtained;

and 4, correcting all photos obtained by the digital camera 11 by using the accurate coordinates of the images formed by the image control point marks 21 in the photos and the height relative to the ground, and reversely calculating the accurate external orientation elements of the photos by methods such as aerial triangulation and the like.

Example two

As shown in fig. 3, the target is the ground, the main carrier adopts an unmanned aerial vehicle 12, the main sensor adopts a laser radar 11, the auxiliary carrier adopts an unmanned aerial vehicle 23, the cooperative target adopts a laser reflector 21, and a GNSS RTK locator 22 is additionally arranged on the unmanned aerial vehicle 23, wherein the GNSS RTK locator 22 is used for determining the spatial coordinate of the laser reflector 21.

Step 1, designing a route S with the flight height of H in a target area according to the requirements of course and lateral overlapping degree, controlling a main unmanned aerial vehicle 12 to fly according to S, starting a laser radar 11 to scan, and accurately recording the point cloud to millisecond.

Step 2, controlling the auxiliary unmanned aerial vehicle 23 to fly along a flight path L which is parallel to the flight path S of the main unmanned aerial vehicle 12 and has a flight height h, so that the laser reflection mark 21 carried by the auxiliary unmanned aerial vehicle is always within the scanning range of the laser radar 11 carried by the main unmanned aerial vehicle 12, h is as small as possible so as to be close to the ground, and meanwhile, obstacles are avoided, and h can be dynamically adjusted; starting the GNSS RTK positioner 22, and measuring and recording the position of the laser reflection mark 21; all measurements contain time information accurate to milliseconds.

And 3, after the measurement is finished, performing time matching on the scanning data of the point cloud which is acquired by the laser radar 11 and contains the laser reflection marks 21 and the position data of the laser reflection marks 21, and performing interpolation if necessary to obtain the accurate coordinates of the point cloud which is formed by the laser reflection marks 21 in the scanning data of each station in a ground measurement coordinate system.

And 4, processing and correcting all point clouds acquired by the laser radar 11 by using the accurate coordinates of the point clouds formed by the laser reflection marks 21 in the scanning data of each measuring station through methods such as point cloud registration and the like, and converting the coordinate system of the point clouds into a ground measuring coordinate system.

In specific implementation, the above process can adopt computer software technology to realize automatic operation process.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.