【摘要】：隨著我國信息技術(shù)的快速發(fā)展,城市的交通、基礎(chǔ)設(shè)施建設(shè)等各方面的壓力都在逐步加大,為了更好的發(fā)展城市信息化基礎(chǔ)建設(shè),相繼出現(xiàn)了移動3D GIS實景采集系統(tǒng)；主要是在移動載體上(機動車輛等)安裝CCD影像獲取系統(tǒng)、全球定位系統(tǒng)(GPS)、慣性測量單元(IMU)以及激光掃描儀(LS)等新型傳感器設(shè)備；在車輛行駛過程中,快速獲取與處理城市空間三維實景數(shù)據(jù),形成有效的三維GIS實景交通管理信息平臺；此系統(tǒng)不僅提供一種便捷、經(jīng)濟(jì)的工作方式,而且能夠很好滿足城市智能交通管理基礎(chǔ)GIS信息數(shù)據(jù)庫建設(shè)的需求。 本文總結(jié)了目前移動數(shù)據(jù)采集平臺的研究現(xiàn)狀,以移動3DGIS實景采集系統(tǒng)為基礎(chǔ)平臺；闡述了系統(tǒng)平臺的架構(gòu),并且詳細(xì)地分析了數(shù)據(jù)采集的工作原理及系統(tǒng)的基本工作流程。 重點研究了實景三維GIS數(shù)據(jù)采集前的系統(tǒng)預(yù)處理技術(shù)：首先,介紹了系統(tǒng)中CCD全景傳感器的基本原理,實現(xiàn)了基于徑向約束的兩步法對CCD進(jìn)行標(biāo)定處理,獲取了標(biāo)定的相機內(nèi)外參數(shù),可以有效的實現(xiàn)城市三維實景影像獲取。然后,闡明了使用GPS/IMU組合導(dǎo)航為整個系統(tǒng)平臺提供定位定姿信息,文中提出了一種新的濾波處理算法,完成對GPS、IMU數(shù)據(jù)進(jìn)行濾波處理,獲得了系統(tǒng)平臺的空間位置、姿態(tài)及速度等信息,提高了組合導(dǎo)航在系統(tǒng)中的準(zhǔn)確度和數(shù)據(jù)可靠性。最后,分析了系統(tǒng)中各傳感器的數(shù)據(jù)采集頻率與空間坐標(biāo)系各有差異；以此對時空配準(zhǔn)進(jìn)行了基本研究；時間配準(zhǔn)主要采用了同步到GPS時間系統(tǒng),通過軟硬件相結(jié)合的辦法來實現(xiàn),通過空間坐標(biāo)系的轉(zhuǎn)換來實現(xiàn)CCD影像傳感器、三個激光掃描儀配準(zhǔn)到以GPS空間坐標(biāo)系為基準(zhǔn)的空間統(tǒng)一坐標(biāo)系下,并詳細(xì)的給出各個傳感器之間坐標(biāo)轉(zhuǎn)換參數(shù)；最終保證多個不同傳感器間三維空間數(shù)據(jù)在時間與空間上的同步；提高了移動三維實景采集系統(tǒng)中數(shù)據(jù)采集的有效性和可靠性。 基于上述數(shù)據(jù)處理方法,本文在自行設(shè)計的城市3DGIS實景采集系統(tǒng)的環(huán)境條件下,對系統(tǒng)進(jìn)行城市空間三維街景采集做了一定三維GIS實景實例,為后續(xù)的研究應(yīng)用奠定了基礎(chǔ)。
[Abstract]:With the rapid development of information technology in our country, the pressure of urban transportation, infrastructure construction and other aspects are gradually increased. In order to better develop the urban information infrastructure, mobile 3D GIS scene acquisition system has emerged one after another. CCD image acquisition system, (GPS), inertial measurement unit (IMU) and laser scanner (LS) are installed on mobile vehicles. This system not only provides a convenient and economical way to work, but also quickly acquires and processes the 3D real scene data of urban space, and forms an effective three-dimensional GIS real scene traffic management information platform. Moreover, it can meet the need of GIS information database construction of urban intelligent traffic management. This paper summarizes the current research status of mobile data acquisition platform, based on the mobile 3DGIS real scene acquisition system, expounds the architecture of the system platform, and analyzes the working principle and the basic work flow of the system in detail. In this paper, the system preprocessing technology before 3D GIS data acquisition is mainly studied. Firstly, the basic principle of CCD panoramic sensor in the system is introduced, and the two step method based on radial constraint is realized to calibrate CCD. The internal and external parameters of the camera are obtained, which can effectively realize the acquisition of urban 3D real scene images. Then, the use of GPS/IMU integrated navigation for the whole system platform to provide positioning and attitude information, this paper proposes a new filter processing algorithm to complete the filtering processing of GPS,IMU data, and obtain the spatial position of the system platform. The accuracy and data reliability of the integrated navigation system are improved by the attitude and speed information. Finally, the data acquisition frequency and spatial coordinate system of each sensor in the system are analyzed, and the basic research of space-time registration is carried out. The time registration mainly adopts synchronous to GPS time system. Through the combination of software and hardware, the CCD image sensor is realized through the transformation of the spatial coordinate system, and the three laser scanners are registered to the unified spatial coordinate system based on the GPS spatial coordinate system. The coordinate conversion parameters between the sensors are given in detail; finally, the synchronization of 3D spatial data between different sensors is ensured; and the validity and reliability of data acquisition in mobile 3D scene acquisition system are improved. Based on the above data processing method, under the environment condition of the urban 3DGIS real scene acquisition system designed by ourselves, this paper makes a certain 3D GIS real scene example of the system for the urban space 3D street scene acquisition system, which lays a foundation for the subsequent research and application.
【學(xué)位授予單位】：重慶交通大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2013
【分類號】：P208;U495

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