The Design And Research Of Light-small 3D Laser Scanning Measurement System

The 3D laser scanning technology developed as the latest GIS data acquisition tools.It integrate GPS global positioning technology,inertial navigation technology,laser ranging technology,automatic control technology and other advanced technologies.It works very fast and automatically.It also has the characteristic of high precision and little influence of weather.Besides,a large amount of information could be caught by it directly.The 3D laser scanning technology has been used in multiple fields such as the construction of digital city,surveying and mapping,urban planning,land resources investigation,resource assessment,geographic information system and historic preservation,etc.At present,most of the 3D Laser scanning system has a huge volume and heavy weight.It almost be carried by oversize vehicle or manned planes.And it can be seen that most of its collection scope is for large area or large-scale scene.However,it cannot play the advantage of data collection for small area,so it largely restricted the application of the 3D laser scanning technology.In order to solve this shortage,this paper design a light-small mobile 3D laser scanning system.This system can be carried by air small mobile platforms such as UAV,and can be used in the data collection for development zones,residential areas,schools,factory mining areas,towns and other small areas at low altitude to achieve true 3D model reconstruction.Firstly,this paper analyze the development status of 3D laser scanning measurement technology at home and abroad in detail and point out the shortcomings and the urgent issues to tackle that exist in the current moving 3D laser scanning system.Then introduce the principia mathematica of the 3D airborne laser scanning technology and explain the integration schemas,hardware lectotype,design of data acquisition software of the light-small mobile 3D laser system in detail.This paper use serial communication programming technology and multi-thread technology to achieve real-time data collection.For the collected multi-source data,including GPS data,inertial navigation data and laser scanning data,this paper complete the resolving of the original data of INS and design and implementation a combination of data filtering and fusion scheme.This paper adopt the Kalman Filter fusion the GPS and INS data to generate the highly accurate position and attitude data,and finally combine the laser scanning data to generate the point cloud data of the fixed format for display.This research design of 3D laser scanning system,under the condition of the precision meet the requirements,adopt the light small low cost hardware system,so it is much better than the current commercial device in economy,flexibility and size and weight.Though the test results show that the data acquisition software can achieve the multi-sensor real-time data collection and store stable,the designed combination Kalman Filtering algorithm can integrate the INS and GPS data effectively,improve the accuracy of the position and attitude data.The whole system has a good feasibility,can be carried on unmanned aerial vehicles and other small mobile platforms for the work of geographic data collection and modeling.