城市3D-GIS实景采集与处理技术研究

发布时间：2018-09-02 05:57

【摘要】：随着我国信息技术的快速发展,城市的交通、基础设施建设等各方面的压力都在逐步加大,为了更好的发展城市信息化基础建设,相继出现了移动3D GIS实景采集系统；主要是在移动载体上(机动车辆等)安装CCD影像获取系统、全球定位系统(GPS)、惯性测量单元(IMU)以及激光扫描仪(LS)等新型传感器设备；在车辆行驶过程中,快速获取与处理城市空间三维实景数据,形成有效的三维GIS实景交通管理信息平台；此系统不仅提供一种便捷、经济的工作方式,而且能够很好满足城市智能交通管理基础GIS信息数据库建设的需求。本文总结了目前移动数据采集平台的研究现状,以移动3DGIS实景采集系统为基础平台；阐述了系统平台的架构,并且详细地分析了数据采集的工作原理及系统的基本工作流程。重点研究了实景三维GIS数据采集前的系统预处理技术：首先,介绍了系统中CCD全景传感器的基本原理,实现了基于径向约束的两步法对CCD进行标定处理,获取了标定的相机内外参数,可以有效的实现城市三维实景影像获取。然后,阐明了使用GPS/IMU组合导航为整个系统平台提供定位定姿信息,文中提出了一种新的滤波处理算法,完成对GPS、IMU数据进行滤波处理,获得了系统平台的空间位置、姿态及速度等信息,提高了组合导航在系统中的准确度和数据可靠性。最后,分析了系统中各传感器的数据采集频率与空间坐标系各有差异；以此对时空配准进行了基本研究；时间配准主要采用了同步到GPS时间系统,通过软硬件相结合的办法来实现,通过空间坐标系的转换来实现CCD影像传感器、三个激光扫描仪配准到以GPS空间坐标系为基准的空间统一坐标系下,并详细的给出各个传感器之间坐标转换参数；最终保证多个不同传感器间三维空间数据在时间与空间上的同步；提高了移动三维实景采集系统中数据采集的有效性和可靠性。基于上述数据处理方法,本文在自行设计的城市3DGIS实景采集系统的环境条件下,对系统进行城市空间三维街景采集做了一定三维GIS实景实例,为后续的研究应用奠定了基础。
[Abstract]:With the rapid development of information technology in our country, the pressure of urban transportation, infrastructure construction and other aspects are gradually increased. In order to better develop the urban information infrastructure, mobile 3D GIS scene acquisition system has emerged one after another. CCD image acquisition system, (GPS), inertial measurement unit (IMU) and laser scanner (LS) are installed on mobile vehicles. This system not only provides a convenient and economical way to work, but also quickly acquires and processes the 3D real scene data of urban space, and forms an effective three-dimensional GIS real scene traffic management information platform. Moreover, it can meet the need of GIS information database construction of urban intelligent traffic management. This paper summarizes the current research status of mobile data acquisition platform, based on the mobile 3DGIS real scene acquisition system, expounds the architecture of the system platform, and analyzes the working principle and the basic work flow of the system in detail. In this paper, the system preprocessing technology before 3D GIS data acquisition is mainly studied. Firstly, the basic principle of CCD panoramic sensor in the system is introduced, and the two step method based on radial constraint is realized to calibrate CCD. The internal and external parameters of the camera are obtained, which can effectively realize the acquisition of urban 3D real scene images. Then, the use of GPS/IMU integrated navigation for the whole system platform to provide positioning and attitude information, this paper proposes a new filter processing algorithm to complete the filtering processing of GPS,IMU data, and obtain the spatial position of the system platform. The accuracy and data reliability of the integrated navigation system are improved by the attitude and speed information. Finally, the data acquisition frequency and spatial coordinate system of each sensor in the system are analyzed, and the basic research of space-time registration is carried out. The time registration mainly adopts synchronous to GPS time system. Through the combination of software and hardware, the CCD image sensor is realized through the transformation of the spatial coordinate system, and the three laser scanners are registered to the unified spatial coordinate system based on the GPS spatial coordinate system. The coordinate conversion parameters between the sensors are given in detail; finally, the synchronization of 3D spatial data between different sensors is ensured; and the validity and reliability of data acquisition in mobile 3D scene acquisition system are improved. Based on the above data processing method, under the environment condition of the urban 3DGIS real scene acquisition system designed by ourselves, this paper makes a certain 3D GIS real scene example of the system for the urban space 3D street scene acquisition system, which lays a foundation for the subsequent research and application.
【学位授予单位】：重庆交通大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：P208;U495

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