车载移动测图系统设计与应用探讨

Discussion on the Design and Application of Vehicular Mobile Mapping System

随着计算机、传感器和导航定位技术的发展,移动测图技术发展迅猛并备受关注。本文提出了一种基于定位传感器GPS、定姿传感器IMU及影像传感器激光扫描仪、线/面阵CCD相机等多种传感器融合的车载移动式数据快速采集系统。先从IMU数据中提取姿态信息,再对GPS和IMU数据进行卡尔曼滤波,求得整个系统平台及各传感器精确位置和姿态的最佳估计;由LS点云数据可提取出街道两侧建(构)筑物三维几何框架信息,结合面阵CCD采集的其面状纹理信息,线阵CCD获取的道路轴线、路面标志等带状线性地物,可实现城市目标地理坐标和建模信息的快速获取。最后给出了GPS与扫描仪数据联合获取与处理的实例。

Along with the technology development in computer, sensor, positioning and navigation, MMS is getting fast evolution and more attention. This paper presents a moving mobile data fast collection System based on position sensor GPS, orientation sensor IMU and image sensors such as linear, frame CCD and laser scanner. Attitude information is acquired from IMU observation in advance, then through Kalman filter and from GPS and IMU data, optimal position and attitude estimation of the whole system platform and of all sensors can be evaluated. 3-D geometrical information of buildings and constructions in street two sides can be extracted from laser scanner point cloud data. And the planar texture information of the things comes from frame CCD camera, the linear or strip shape symbols such as road axes in road surface are derived form linear CCD camera. In this way, and c coordinates and modeling information of object in the city can be quickly gathered. Finally, GPS LS data joint capture and processing are given