融合北斗/GNSS定位和5G通讯的地基激光雷达测量系统  

Ground-based LiDAR measurement system integrating Bei Dou/GNSS positioning and 5G communication

作　　者：郭明 齐慧慧[1] 郭可才 周玉泉 李登科 GUO Ming;QI Huihui;GUO Kecai;ZHOU Yuquan;LI Dengke(School of Geomatics and Urban Spatial Informatics,Beijing University of Civil Engineering and Architecture,Beijing 102616,China;Engineering Research Centre of Representative Building and Architectural Heritage Database,Ministry of Education,Beijing 100044,China;Key Laboratory of Modern Urban Surveying and Mapping,National Administration of Surveying Mapping and Geoinformation,Beijing 100044,China;Beijing Key Laboratory for Architectural Heritage Fine Reconstruction&Health Monitoring,Beijing University of Civil Engineering and Architecture,Beijing 100044,China;Beijing Shenxindacheng Technology Co.,Beijing 102444,China)

机构地区：[1]北京建筑大学测绘与城市空间信息学院,北京102616 [2]代表性建筑与古建筑数据库教育部工程研究中心,北京100044 [3]现代城市测绘国家测绘地理信息局重点实验室,北京100044 [4]建筑遗产精细重构与健康监测北京市重点实验室北京建筑大学,北京100044 [5]北京申信达成科技有限公司,北京102444

出　　处：《光学精密工程》2023年第4期450-458,共9页Optics and Precision Engineering

基　　金：国家自然科学基金资助项目(No.41971350);北京建筑大学金字塔人才培养工程建大杰青培养计划资助项目(No.JDJQ20200307);北京市未来城市设计高精尖创新中心资助项目(No.UDC2019031724)。

摘　　要：针对海量激光点云异地实时扫描处理困难和现场绝对坐标系的配准问题,结合北斗/GNSS定位系统和5G通讯技术研制一套低成本地基激光雷达测量系统。该测量系统由激光雷达、高精度电机、北斗/GNSS接收模块和5G模组集成,激光雷达采集点云信息,高精度电机获取角度信息,北斗/GNSS接收模块接收时间并通过自主研发的时间同步模块,与高精度电机与激光雷达进行时间标记,获取带有时间标签的点云和角度文件,并通过5G通讯技术实时传输。终端通过自主研发的数据预处理软件,通过线性插值算法进行多帧点云时空配准,室外根据北斗/GNSS坐标进行多站激光点云粗配准,室内无北斗/GNSS环境下通过单站特征点进行多站点云粗配准,再利用临近迭代算法进行精配准以完成整体配准,并在自主研发的实时点云管理与可视化系统上进行可视化。实验表明该测量系统使用5G通讯技术传输速率50 Mbit/s,可以实现异地实时扫描传输,配准后的点云误差在3 mm以下,可为数字孪生、物质文化遗产监测、特大异形建筑施工运维分析等实时应用领域提供数字基础设施。In response to the difficulties of processing laser point cloud off-site real-time scanning and onsite absolute coordinate system alignment,a low-cost ground-based LiDAR measurement system is developed by combining the BeiDou/GNSS positioning system and 5G communication technology.The developed measurement system is integrated by LiDAR,a high-precision motor,BeiDou/GNSS receiver module,and a 5G module.LiDAR collects point cloud information,the high-precision motor acquires angle information,BeiDou/GNSS receiver module receives the time,the high-precision motor acquires time stamps using a self-developed time synchronization module,and LiDAR obtains the point cloud and angle file with time tag before transmitting in real-time via 5G communication technology.The terminal performs spatial and temporal alignment of multi-frame point clouds by linear interpolation algorithm through self-developed data pre-processing software,coarse alignment of the multi-station laser point clouds based on BeiDou/GNSS coordinates outdoors,coarse alignment of the multi-station point clouds by single-station feature points in an indoor environment without BeiDou/GNSS,fine alignment using the proximity iteration algorithm to complete overall alignment,and visualization on the self-developed real-time point cloud management and visualization system.The experimental results show that the measurement system achieves real-time off-site scanning and transmission at a transmission rate of 50 Mbit/s by using 5G communication technology.The error of the aligned point cloud is less than 3 mm,which can provide digital infrastructure for real-time applications such as digital twin,monitoring of material and cultural heritage,analysis of construction and operation,and maintenance of large buildings.

关 键 词：北斗 5G 地基激光雷达 点云配准 可视化 

分 类 号：TN967.1[电子电信—信号与信息处理]