【摘要】：城市三維空間信息的快速獲取是當今測繪研究領域的熱點之一,隨著社會發(fā)展與進步,現(xiàn)代城市及基礎建設發(fā)展日新月異,要求高效率(快)、大面積(廣)、高精度(精)和全面生動(真)地獲取城市空間信息數(shù)據(jù),傳統(tǒng)的以全站儀為主要手段的城市測量勞動強度大、作業(yè)效率低,難以滿足城市空間信息獲取快、廣、精、真的需求；而車載移動測量系統(tǒng)的出現(xiàn)為高效率、大面積、高精度的獲取城市空間信息提供了可能,車載移動測量系統(tǒng)是目前最為引人注目的城市空間三維信息獲取技術之一。目前,3D Laser Mapping、Applanix、 Riegl等國外公司已實現(xiàn)車載移動測量系統(tǒng)的商業(yè)化,但其所售車載移動測量系統(tǒng)價格昂貴,嚴重阻礙了車載移動測量系統(tǒng)在國內的應用。因此,研究車載移動測量系統(tǒng)的集成具有重要意義。本論文對車載移動測量系統(tǒng)集成中的各種核心技術進行了廣泛而深入的研究,包括車載多傳感器時空同步技術、DGPS/INS組合定位定姿技術、車載立體影像量測技術、車載激光掃描技術、車載多傳感器的聯(lián)合標定等。(一)車載多傳感器時空同步技術。時空同步技術是多傳感器集成的重要技術,精確的時空同步是車載移動測量系統(tǒng)實現(xiàn)高精度三維空間信息采集的前提。本文分析了GPS、慣導、激光掃描儀以及相機等的時空特性,并采用高穩(wěn)晶振,設計并實現(xiàn)了一種同步控制器；該同步控制器在作業(yè)過程中引入GPS時間系統(tǒng)并在GPS信號中斷期間維持該時間系統(tǒng),能夠長時間的實現(xiàn)多傳感器的高精度時間同步。(二)DGPS/INS組合定位定姿技術在車載移動測量系統(tǒng)中的應用。傳統(tǒng)攝影測量中,采用布設控制點進行空三加密的方法得到影像的外方位元素；車載移動測量系統(tǒng)中使用組合定位定姿技術,直接為影像提供外方位元素,稱為直接地理定位(Direct Georeferencing)技術。本文采用直接地理定位方法,為車載影像與激光掃描數(shù)據(jù)提供直接地理定位,建立車載影像立體量測模型與車載激光掃描直接地理定位模型。(三)車載立體影像量測技術。數(shù)字相機是車載移動測量系統(tǒng)中的常用傳感器,在車載移動測量系統(tǒng)中一般按照特殊的安裝方式集成多對數(shù)碼相機,每對數(shù)碼相機采集的影像可構成立體像對進行立體量測。車載立體影像量測技術來源于攝影測量,但是又與傳統(tǒng)的攝影測量有所區(qū)別,本文建立了直接地理定位下的車載立體影像的量測模型并開發(fā)了相應的車載立體影像量測軟件。(四)車載激光掃描測量技術。地面激光掃描技術(固定式地面激光掃描)能夠高效率、高精度的獲取局部區(qū)域的三維空間信息,將激光掃描技術應用于車載移動測量系統(tǒng)中,能夠解決大范圍大區(qū)域三維空間信息的快速高效獲取。本文將SICK LMS系列激光、Riegl系列激光以及Faro focus 3D激光掃描儀用于車載移動測量系統(tǒng)中,建立了車載激光掃描的絕對定位模型,將“二維”點云重建為三維激光點云,實現(xiàn)大范圍三維空間信息的快速高效獲取。(五)車載多傳感器集成系統(tǒng)的整體標定。未經整體標定的車載移動測量系統(tǒng)存在多種未知的系統(tǒng)參數(shù),包括相機的主點位置、主距、鏡頭畸變、相機之間的相對空間關系、相機與激光掃描儀之間的相對空間關系、相機與慣導之間的空間關系以及激光掃描儀與慣導之間的空間關系等。本文在對車載多傳感器集成系統(tǒng)中各系統(tǒng)參數(shù)深入分析與建模的基礎上,利用三維標定場與二維標定板,完成了車載移動測量系統(tǒng)中各未知系統(tǒng)參數(shù)的解算,使本文研制的車載移動測量系統(tǒng)的定位精度達到厘米級水平。在研究車載移動測量系統(tǒng)集成各個核心技術的基礎上,本文完成了三種完整的移動測量系統(tǒng)的集成,論文研究的面向城市測量的移動測量系統(tǒng)和面向空間信息采集與發(fā)布的移動測量系統(tǒng)的軟、硬件及應用成果分別通過寧波市規(guī)劃局和國家測繪地理信息局的科技成果鑒定；通過實際工程中的應用與驗證也證明,本論文研究成果達到了預期目標。
[Abstract]:Rapid acquisition of urban three-dimensional spatial information is one of the hotspots in the field of Surveying and mapping. With the development of society and the rapid development of modern cities and infrastructure, it is required to obtain urban spatial information data with high efficiency (fast), large area (wide), high precision (precise) and full vividness (true). Traditional total station instrument is the main means. Urban surveying has high labor intensity and low efficiency, which is difficult to meet the needs of fast, wide, precise and real urban spatial information acquisition. The emergence of vehicle-borne mobile surveying system provides the possibility of acquiring urban spatial information with high efficiency, large area and high precision. At present, 3D Laser Mapping, Applanix, Riegl and other foreign companies have realized the commercialization of on-board mobile measurement system, but the high price of on-board mobile measurement system has seriously hindered the application of on-board mobile measurement system in China. Therefore, it is of great significance to study the integration of on-board mobile measurement system. Various key technologies in the integration of vehicle-borne mobile measurement system are studied extensively and deeply, including vehicle-borne multi-sensor space-time synchronization technology, DGPS/INS integrated positioning and attitude determination technology, vehicle-borne stereo image measurement technology, vehicle-borne laser scanning technology, vehicle-borne multi-sensor joint calibration technology, etc. (1) vehicle-borne multi-sensor space-time synchronization technology. Space-time synchronization technology is an important technology of multi-sensor integration. Accurate space-time synchronization is the premise of high-precision three-dimensional space information acquisition for vehicle-borne mobile measurement system. GPS time system is introduced into the step controller and maintained during the interruption of GPS signal, which can realize high precision time synchronization of multi-sensors for a long time. (2) Application of GPS/INS integrated positioning and attitude determination technology in vehicle-borne mobile measurement system. In this paper, the direct geo-location method is used to provide direct geo-location for vehicle images and laser scanning data, and the vehicle-borne mobile measurement system uses combined positioning and attitude determination technology to directly provide external orientation elements for the image, which is called direct geo-location technology. 3. Vehicle-borne stereo image measurement technology. Digital camera is a common sensor in vehicle-borne mobile measurement system. In vehicle-borne mobile measurement system, many pairs of digital cameras are integrated according to special installation method, and each pair of images collected by digital cameras can be constructed. Vehicle-borne stereo image measurement technology originates from photogrammetry, but it is different from traditional photogrammetry. This paper establishes the measurement model of vehicle-borne stereo image under direct geographic location and develops the corresponding vehicle-borne stereo image measurement software. (4) Vehicle-borne laser scanning measurement technology. Laser scanning technology (fixed terrestrial laser scanning) can obtain high-efficiency and high-precision three-dimensional spatial information of local areas. The application of laser scanning technology in vehicle-borne mobile measurement system can solve the problem of fast and efficient acquisition of large-scale and large-scale three-dimensional spatial information. In this paper, SICK LMS series laser, Riegl series laser and Far series laser are introduced. O-focus 3D laser scanner is used in vehicle-borne mobile measurement system. The absolute positioning model of vehicle-borne laser scanning is established. The "two-dimensional" point cloud is reconstructed into three-dimensional laser point cloud, and the large-scale three-dimensional spatial information can be obtained quickly and efficiently. (5) The overall calibration of vehicle-borne multi-sensor integrated system. There are many unknown parameters in the measurement system, including the main point position of the camera, the main distance, lens distortion, the relative spatial relationship between the cameras, the relative spatial relationship between the camera and the laser scanner, the spatial relationship between the camera and the inertial navigation, and the spatial relationship between the laser scanner and the inertial navigation. On the basis of in-depth analysis and modeling of system parameters in the integrated system, the unknown system parameters in the vehicle-borne mobile measurement system are solved by using three-dimensional calibration field and two-dimensional calibration board. The positioning accuracy of the vehicle-borne mobile measurement system developed in this paper reaches centimeter level. On the basis of the center technology, this paper completes the integration of three complete mobile measurement systems. The software, hardware and application results of the mobile measurement system for Urban Surveying and the mobile measurement system for spatial information collection and publication are tested by Ningbo Municipal Planning Bureau and the State Bureau of Surveying and Mapping Geographic Information respectively. Through the application and verification of the actual project, it is also proved that the research achievement of this paper achieves the expected goal.
【學位授予單位】：武漢大學
【學位級別】：博士
【學位授予年份】：2013
【分類號】：P235

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