车载3D激光扫描系统集成技术

移动激光扫描技术是从上世纪90年代初逐步发展起来的一门测绘技术,也是当今测绘界最为前沿的技术之一,可用于工程测量和制图等诸多领域。地面3D激光扫描仪具有测量速度快,精度高等优点。本文以奥地利RIEGL公司的地面三维激光扫描仪VZ400为例,研究将其作为移动测量系统的主要传感器所涉及的关键技术,包括联机控制、时间基准统一和空间基准统一三个方面:解析了激光扫描仪的接口定义,并结合联机控制的开发库——RiVLIB实现的仪器的联机控与数据通信;给出了基于GPS秒脉冲信号的时间同步原理,实现了系统时间基准的传递与统一;分析了移动测量系统中的坐标系,并根据地面三维激光扫描仪的实际情况,构建了单站的参数标定模型。通过本文的研究与实验,使测量系统实现常见移动测量的二维帧扫描模式以及针对重点区域的三维全景扫描模式,同时,当它闲置时还可将激光扫描仪拆卸进行静态的扫描,丰富了系统的测量方式,提高了系统的适应性与使用效率。

Technology of Vehicle 3D Laser Scanning System Integration

Mobile laser scanning technology was gradually developed as a surveying and mapping technology from the early 1990s ,and its also one of the most cutting-edge technologies in the today＆#39;s field of surveying and mapping ,which can be applied for engineering surveying and mapping ,and many other fields .Terrestrial 3D laser scanner has advantages of high speed of measurement ,high precision and etc .This paper takes Austria ＆#39;s Company RIEGL＆#39;s terrestrial 3D laser scanner VZ400 as example ,and study the key technology it involves as the primary sensor of mobile measurement system ,including three aspects of online control ,unity of time reference and unity of spatial reference ：parsing the interface definition of laser scanner ,and achieving online control and data communications of instruments with the online-control development library-RiVLIB ;giving the theory of time synchronization based on the signal of pulses per GPS second ,and realizing the transfer and unity of system time reference ;analyzing the coordinate system of mobile measurement system ,and developing the model of single-station parameter calibration according to the actual situation of terrestrial 3D laser scanner . Through research and experiments in this paper , the measurement system can achieve a common mobile measurement in two-dimensional frame scanning mode and measurement in key areas in three -dimensional panorama scanning mode ,and at the meantime ,the laser scanner can also be disassembled for static laser scanning while idle ,which enriched the measurement of system and improved the adaptability and efficiency of the system .