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针对地下空间三维信息获取困难的问题,研发了地下空间移动激光测量系统。该系统分为动态测量部分和静态纠正部分,动态测量部分由线阵激光扫描仪、高精度IMU和里程计等传感器高度集成,安装在轻便的移动平台上,在移动过程中快速获取地下空间三维点云信息;静态纠正部分由一系列三维空间合作标靶组成,根据一定原则分布在地下空间中,其作用相当于控制点组合,对移动测量系统获取数据进行位置和姿态纠正。论文在阐述地下移动激光测量系统工作原理的基础上,重点阐述了系统集成中的几个关键技术问题,包括硬件系统集成、三维合作标靶研发、位置姿态纠正等,最后以实例应用说明了该系统的高效性和精确性。
In view of the difficulty of acquiring 3D information in underground space, a mobile laser measuring system for underground space was developed. The system is divided into the dynamic measurement part and the static correction part. The dynamic measurement part is highly integrated by linear laser scanner, high-precision IMU and odometer sensors, and is installed on a portable mobile platform to rapidly obtain the underground three-dimensional Point cloud information. The static correction part is composed of a series of three-dimensional space cooperation targets and is distributed in the underground space according to a certain principle. Its role is equivalent to the combination of control points, and the position and attitude of the mobile measurement system are corrected. Based on the working principle of underground mobile laser measuring system, the dissertation focuses on several key technical issues in system integration, including the hardware system integration, the research and development of three-dimensional cooperation target, the correction of position and attitude, etc. Finally, System efficiency and accuracy.