一种顾及靶标控制的高精度隧道移动扫描方法

A high-precision tunneling mobile scanning method considering target control

针对运营隧道检测无全球导航卫星系统(GNSS)信号,移动激光扫描难以获取绝对坐标系下三维点云数据的问题,该文提出一种顾及靶标控制的高精度隧道移动扫描方法。并将三维激光扫描仪、惯导、里程计、倾角仪集成为自移动三维激光扫描系统,利用倾角仪静态测量姿态角约束惯导数据,结合控制点坐标纠正测量线路轨迹,生成绝对坐标系下的三维点云数据。通过与组合导航对比以及现场实验验证,该方法绝对定位点位偏差可以控制在0.06m以内。研究方法解决了隧道场景绝对定位难题,有效避免了由于卫星信号遮挡隧道移动扫描点云明显变形和误差急剧变大等情况,为轨道交通隧道三维显示、病害检测等后续分析提供了良好的数据支撑。

Aiming at the problem that there is no global navigation satellite system(GNSS)signal for the inspection of operation tunnels,and it was difficult to obtain three-dimensional point cloud data in absolute coordinate system by mobile laser scanning,this paper proposed a high-precision tunnel mobile scanning method considering the target control,and integrated the three-dimensional laser scanner,the inertial guide,the odometer,and the inclinometer into a self-moving three-dimensional laser scanning system,and constrained the inertial guide data by using the inclinometer to measure the attitude angle staticly.The 3D point cloud data under absolute coordinate system was generated by combining the control point coordinates to correct the measured line trajectory.By comparing with the combined navigation and verifying with field experiments,the absolute deviation of the positioning point of this method couldc be controlled within O.06 meters.The research method solved the problem of absolute positioning of the tunnel scene,effectively avoided the obvious deformation of the tunnel mobile scanning point cloud due to the satellite signal occlusion and sharp error,and provided good data support for the three-dimensional display of the rail transit tunnel,disease detection and other subsequent analysis.