CN117848302B - Real-time terrain intelligent mapping method and system - Google Patents
Real-time terrain intelligent mapping method and system Download PDFInfo
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Abstract
The invention discloses a real-time intelligent topographic mapping method and system, which relate to the technical field of topographic mapping and comprise the following steps: generating initial contour map data by fusing various mapping data, dividing subareas for each contour map, and selecting edge characteristic points of each initial contour map; acquiring real-time coordinates of a mobile station by using a GPS receiver and a real-time dynamic differential positioning technology, and calculating a position deviation index to form a first topography change index; acquiring a sub-region surface image through mapping equipment, comparing and calculating an area change index, and selecting and calculating a curvature change index at an edge characteristic point based on the surface image of each contour region and a selection method of the edge characteristic point so as to obtain a second topography change index; and combining the two indexes to form a comprehensive topography change index, and flexibly adopting a re-survey and drawing strategy compared with a re-survey and drawing threshold value. The method improves the real-time performance, accuracy and efficiency of the terrain monitoring, and further improves the timeliness and accuracy of the terrain mapping.
Description
Technical Field
The invention relates to the technical field of topographic mapping, in particular to a real-time intelligent topographic mapping method and system.
Background
Topographic mapping has important application value in various fields; the topographic map provides the basis data for city planning. By mapping, the information of the fluctuation, gradient, flow direction and the like of the terrain can be determined, and a decision basis is provided for urban planning; topography mapping and re-topography helps to find potential risks in topography variations, such as landslides, debris flows, floods, and other natural disasters. By monitoring and analyzing the changes, early warning can be performed in advance, prevention and control measures can be taken in time, and disaster loss is reduced; the topographic survey and the re-survey can provide detailed information of the topographic features, are helpful for evaluating the ecological environment condition, discovering environmental problems, and providing data support for environmental protection and management;
The topography is not invariable, in order to grasp the latest situation of the topography, discover and predict the possible risk brought by topography change in time, need to survey again, along with the acceleration of the urban process and the aggravation of global climate change, the speed and scale of topography change are both increased, and the requirement for survey again is urgent;
in the Chinese application with the application publication number of CN113804183A, a real-time topographic mapping method is disclosed, which comprises the steps of acquiring a point cloud key frame and position and gesture information corresponding to the point cloud key frame in real time; updating a map layer of the TSDF map in an incremental manner by using the point cloud keyframes and the corresponding position and posture information; expanding the map layer of the updated TSDF map by a preset thickness to generate an elevation map containing a safety boundary;
in the application of the invention, the map layer is updated in real time through the position and gesture information to guide obstacle avoidance in real time and reduce the calculated amount, but whether the current topography needs to be re-mapped is not judged, so that the map is updated in real time; in addition, most of the existing re-mapping methods often rely on regular field measurements, which are time-consuming and labor-consuming, and difficult to accurately capture rapid changes in terrain.
Disclosure of Invention
(One) solving the technical problems
Aiming at the technical problems in the background technology, the invention provides a real-time terrain intelligent mapping method and a real-time terrain intelligent mapping system, which are characterized in that initial contour map data are generated and subareas are divided; respectively calculating a first topography change index and a second topography change index of each contour region; synthesizing the two indexes to form a comprehensive topography change index, and flexibly adopting a re-survey and drawing strategy compared with a re-survey and drawing threshold value; thereby solving the technical problems described in the background art.
(II) technical scheme
In order to achieve the above purpose, the invention is realized by the following technical scheme:
a real-time terrain intelligent mapping method, comprising:
generating initial contour map data of a current region in a mode of combining various mapping data, dividing continuous regions at the same elevation into subregions, and selecting edge feature points of each subregion;
Selecting a fixed point in a current area as a reference station, and selecting a point in each sub-area as a mobile station of the area; acquiring real-time coordinates of each mobile station based on a GPS receiver in the reference station and the mobile station and a real-time dynamic differential positioning method, and calculating a position deviation index of each sub-area through a coordinate difference value between the current position coordinates and the initial position coordinates of each mobile station And further forming a first topography index/>, for each contour region；
The surface image of each sub-area is acquired through mapping equipment in the mobile station, the area of each sub-area is calculated by comparing with the initial sub-area, and the area change index of each contour area is further calculated; Calculating the curvature of each edge feature point in the contour region according to the surface image, and further calculating the curvature change index/>, of each contour region; Index of area change/>And curvature change index/>Combining to obtain a second topography change index/>, of each contour region；
Acquiring a first topography variation index of each contour regionAnd a second topography change index/>Calculating the comprehensive topography change index/>, of each contour regionAnd judging the relation between the re-measurement threshold value and the re-measurement threshold value, and adopting a corresponding re-measurement strategy according to the quantity exceeding the re-measurement threshold value.
Specifically, the continuous regions with the same height in the initial contour map are extracted byRepresenting the total number of the equal-altitude areas, dividing each equal-altitude area into a plurality of equal-size sub-areas, and distributing a unique number for each sub-area, wherein the number is not 0;
Take the Oriental direction as The axial direction, north-positive is/>Axial direction parallel to/>, on the contour region edgeThe lowest tangent to the axial direction is parallel to/>The intersection point of the leftmost tangent line in the axial direction is taken as an origin, and a plane rectangular coordinate system is established; two straight lines are arranged in an established plane rectangular coordinate system, which are respectively/>/>Wherein/>Maximum value of the ordinate of the edge point of each contour region,/>Maximum value of abscissa of edge point of each contour region; and taking a plurality of intersection points of the two straight lines and the edge point of each contour region as edge characteristic points of each contour region.
Specifically, the reference site is taken as the originEstablishing a space rectangular coordinate system; a GPS receiver in the mobile station calculates a positioning error by receiving data from a reference station and performing differential correction processing by using an RTK technology; acquiring position coordinate information of each mobile station by receiving GPS satellite signals, and subtracting the position coordinate information from the calculated positioning error to obtain the position coordinate of each mobile station; calculating the initial position coordinates/>, of each mobile station in the above mannerReal-time location coordinates/>Wherein/>Represents the/>Sub-regions of the number;
further, the position coordinates on each mobile station are recorded in real time ; Current real-time location coordinates/>, by each mobile stationWith initial position coordinates/>Calculating the position deviation index of each sub-region based on the coordinate difference value of (a)The expression is:
；
Index of positional deviation of all sub-areas in the contour area In combination, form a first topography index/>, of the high areasThe expression is: /(I)Wherein/>Represents the/>A set of sub-region numbers in the individual contour regions.
Specifically, carrying out plane scanning on the subarea where each mobile station is located by using a laser scanner in each mobile station to acquire a current surface image of the subarea; placing the current surface image and the initial surface image of each sub-area on the same map window, reserving the overlapped area, and eliminating other areas; calculating the area of the reserved area by image processing software to be used as the current area of each sub-area;
taking the sum of the current areas of all the subareas in each contour region as the current total area of each contour region, and combining the current total area with the initial total area to obtain the area change index of each contour region The expression is:
；
Wherein, Represents the/>Initial total area of the individual contour regions.
Further, the sub-planes of each contour region are combined to form the total plane of the current contour region, edge characteristic points of the current contour region are extracted according to the extraction method of the edge characteristic points of the contour region, the curvature of each edge characteristic point in the initial contour region and the current contour region is calculated through GIS software respectively, the curvatures of the edge characteristic points at corresponding positions in two images are compared, and the curvature change index is obtained by combining the comparison results of the curvatures at all the edge characteristic pointsThe expression is:
；
Wherein, Representing the number of edge feature points of each contour region,/>Representing the/>, in the current contour regionCurvature of individual edge feature points,/>Representing the/>, in the initial contour regionCurvature of the edge feature points; if the number of edge feature points in the current contour region is different from that of the edge feature points in the initial contour region, the curvature of the edge feature points at the corresponding positions is calculated normally, and the curvature of the edge feature points at the rest positions is set to be 0, at the moment,/>The maximum value of the number of the edge characteristic points in the current contour region and the initial contour region is obtained.
Further, the area change index isAnd curvature change index/>Combining to obtain a second topography change index/>, of each contour regionThe expression is:
；
Wherein, 、/>Area change index/>, respectivelyAnd curvature change index/>And/>。
Further, a first topography change index of each contour region is obtainedAnd a second topography change index/>Calculating the comprehensive topography change index/>, of each contour region：
；
Comprehensive topography change index of each corresponding contour regionThe calculation formula of (2) is as above.
Further, a re-survey threshold value is preset, if the comprehensive topography change indexes of all the contour areas do not exceed the re-survey threshold value, the fact that the topography of the current area does not have obvious topography change is indicated, and re-survey is not needed for the current area;
If the integrated topography change indexes of the areas with the equal height exceed the redrawing threshold value, the number of the equal height areas and the equal height areas adjacent to the equal height areas is used for If/>The method indicates that only a small part of the contour region in the current region has obvious terrain change, and only the region needs to be re-mapped; if/>And the method indicates that obvious terrain change occurs in a plurality of equal-altitude areas in the current area, and the whole current area needs to be re-mapped.
A real-time terrain intelligent mapping system, comprising:
The data acquisition and processing module is used for generating initial contour map data of the current area in a mode of combining various mapping data; extracting continuous areas with the same height in the initial contour map, dividing each contour area into a plurality of equal-sized subareas, and distributing a unique number for each subarea; establishing a plane rectangular coordinate system, wherein a plurality of intersection points of two arranged straight lines and edge points of each contour region are used as edge characteristic points of each contour region;
the first terrain variation analysis module is used for acquiring real-time coordinates of each mobile station based on a GPS receiver in the reference station and the mobile station and a real-time dynamic differential positioning method, and calculating a position deviation index of each sub-area through a coordinate difference value between the current position coordinates and the initial position coordinates of each mobile station And further forming a first topography index/>, for each contour region；
A second topographic variation analysis module for acquiring the surface image of each sub-area through the mapping equipment in the mobile station, comparing with the initial sub-area to calculate the area of each sub-area, and further calculating to obtain the area variation index of each contour area; Calculating the curvature of each edge feature point in the contour region according to the surface image, and further calculating the curvature change index/>, of each contour region; Index of area change/>And curvature change index/>Combining to obtain a second topography change index/>, of each contour region；
The redrawing strategy generation module is used for obtaining a first topography change index of each contour regionAnd a second topography change index/>Calculating the comprehensive topography change index/>, of each contour regionAnd judging the relation between the re-measurement threshold value and the re-measurement threshold value, and adopting a corresponding re-measurement strategy according to the quantity exceeding the re-measurement threshold value.
(III) beneficial effects
The invention provides a real-time terrain intelligent mapping method and system, which have the following beneficial effects:
1. Initial contour map data of the current region are generated in a mode of combining various mapping data, and accuracy of the initial contour map data is improved; dividing the continuous areas at the same elevation into subareas, selecting edge characteristic points of each contour area, and placing mapping detection of the follow-up topography under the areas at the same elevation, so that the complexity of follow-up data processing and analysis is simplified, and the efficiency of data processing is further improved;
2. the fixed point is selected as a reference station, and the GPS receiver and the real-time dynamic differential positioning technology are utilized, so that the high accuracy of the position coordinate acquisition of the mobile station can be ensured; the first terrain change index of each contour region is calculated by utilizing the coordinate difference value of each sub-region, so that the terrain change condition of each contour region can be reflected in real time, and powerful support is provided for terrain monitoring and evaluation; the method not only improves the accuracy and the instantaneity of the terrain change detection, but also is beneficial to timely finding out the potential geological disaster risk, and provides scientific basis for related decisions;
3. the laser scanner is utilized to acquire three-dimensional point cloud data of the surface of the subarea, and an optimal plane is fitted to be used as a surface image, so that the accuracy and the authenticity of the data are ensured; calculating an area change index by comparing the initial and current surface images, which helps quantify the area change of the terrain surface; extracting and calculating the curvature of the edge characteristic points, and further obtaining a curvature change index, which can reflect the shape and morphological change of the terrain; combining the area change index with the curvature change index to obtain a second topography change index, which provides a basis for comprehensive evaluation of topography change; the accuracy and the efficiency of terrain variation analysis are improved;
4. by combining the first topography variation index and the second topography variation index, the degree and the range of the topography variation can be comprehensively estimated; when the comprehensive topography change index exceeds a preset re-survey threshold, the system can automatically judge whether re-survey is needed or not, and flexibly select a re-survey strategy according to the number of the equal-height areas exceeding the threshold, so that unnecessary re-survey of the whole area is avoided, and the surveying efficiency is improved; the design is not only helpful for timely finding and coping with the change of the terrain, but also improves the mapping efficiency.
Drawings
FIG. 1 is a flow chart of steps of a method for intelligent mapping of real-time terrain provided by the invention;
fig. 2 is a schematic structural diagram of the real-time topographic intelligent mapping system provided by the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the invention provides a real-time terrain intelligent mapping method, which comprises the following steps:
firstly, generating initial contour map data of a current region in a mode of combining various mapping data, dividing continuous regions at the same elevation into subregions, and selecting edge feature points of each subregion;
The first step comprises the following steps:
Step 101, generating initial contour map data of a current area in a mode of combining various mapping data, wherein the initial contour map data comprise satellite remote sensing data, aerial photography data and laser radar scanning data of an unmanned aerial vehicle; loading all data into the same map window, fusing the data through spatial registration and coordinate conversion, and generating initial contour map data by utilizing the fused data and a contour line generation algorithm;
Satellite remote sensing data refers to satellite remote sensing images of a target area, and generally includes visible light, infrared and multispectral data, which can provide a large-scale overview of the earth's surface; aerial photography data refers to obtaining high-resolution ground images through aerial photography, and the data can provide more surface characteristic information; the unmanned aerial vehicle is used for carrying laser radar equipment, high-precision three-dimensional scanning is carried out on a target area, and very detailed terrain elevation information can be provided;
Step 102, extracting the continuous areas with the same height in the initial contour map, using Representing the total number of the equal-altitude areas, dividing each equal-altitude area into a plurality of equal-size sub-areas, and distributing a unique number for each sub-area, wherein the number is not 0;
Step 103, taking the Oriental direction as The axial direction, north-positive is/>Axial direction parallel to/>, on the contour region edgeThe lowest tangent to the axial direction is parallel to/>The intersection point of the leftmost tangent line in the axial direction is taken as an origin, and a plane rectangular coordinate system is established; two straight lines are arranged in an established plane rectangular coordinate system, which are respectively/>/>Wherein/>Maximum value of the ordinate of the edge point of each contour region,/>Maximum value of abscissa of edge point of each contour region; and taking a plurality of intersection points of the two straight lines and the edge point of each contour region as edge characteristic points of each contour region.
In use, the contents of steps 101 to 103 are combined:
Initial contour map data of the current region are generated in a mode of combining various mapping data, and accuracy of the initial contour map data is improved; the method has the advantages that the continuous areas at the same elevation are divided into the subareas, the edge characteristic points of each contour area are selected, the mapping detection of the follow-up topography is put into the areas at the same elevation, the complexity of follow-up data processing and analysis is simplified, and the data processing efficiency is further improved.
Selecting a fixed point in the current area as a reference station, and randomly selecting a point in each sub-area as a mobile station of the area; acquiring real-time coordinates of each mobile station based on a GPS receiver in the reference station and the mobile station and a real-time dynamic differential positioning method, and calculating a position deviation index of each sub-area through a coordinate difference value between the current position coordinates and the initial position coordinates of each mobile stationAnd further forming a first topography index/>, for each contour region；
The second step comprises the following steps:
step 201, selecting a fixed point in a current area to be detected as a reference station, wherein the address of the fixed point is required to be gentle, and the change of the terrain is not easy to occur; selecting a point in each sub-area as a mobile station of the area, wherein the selected mobile station can receive the differential data of the reference station and enough satellite signals and is not shielded by vegetation;
Step 202, a GPS receiver in a reference station acquires a specific position of the reference station by receiving GPS satellite signals; with the reference station as the origin Establishing a space rectangular coordinate system; a GPS receiver in the mobile station calculates positioning errors caused by satellite signal propagation errors and receiver errors by receiving data from a reference station and performing differential correction processing by using an RTK technology; acquiring position coordinate information of each mobile station by receiving GPS satellite signals, and subtracting the position coordinate information from the calculated positioning error to obtain the position coordinate of each mobile station; calculating the initial position coordinates/>, of each mobile station in the above mannerReal-time location coordinates/>Wherein/>Represents the/>Sub-regions of the number;
The reference station and the mobile station are internally provided with GPS receivers; the GPS receiver on the reference station is mainly used for receiving satellite data, and analyzing and processing the received data to form a complete data chain; the data chain is transmitted to a receiving station in time through a wireless communication satellite, and after the receiving station receives the data chain, the receiving station decodes and analyzes the data by utilizing data processing and analyzing software so as to obtain corresponding coordinate data; the GPS receiver on the mobile station is responsible for receiving signals from GPS satellites and calculating position coordinate data of the mobile station;
RTK is real-time dynamic differential positioning, is a carrier phase differential technology, and consists of a reference station and a mobile station; the RTK technology is a real-time differential GPS measurement technology based on carrier phase observance, and is a differential method for processing the carrier phase observance of two measuring stations in real time, and the carrier phase acquired by a reference station is sent to a user receiver to calculate the differential solution coordinate;
step 203, recording the position coordinates on each mobile station in real time ; Current real-time location coordinates/>, by each mobile stationWith initial position coordinates/>Calculating the position deviation index of each sub-region based on the coordinate difference value of (a)The expression is:
；
step 204, indexing the position deviation of all sub-areas in the contour area In combination, form a first topography index/>, of the high areasThe expression is: /(I)Wherein/>Represents the/>A set of sub-region numbers in the individual contour regions.
In use, the contents of steps 201 to 203 are combined:
The fixed point is selected as a reference station, and the GPS receiver and the real-time dynamic differential positioning technology are utilized, so that the high accuracy of the position coordinate acquisition of the mobile station can be ensured; the first terrain change index of each contour region is calculated by utilizing the coordinate difference value of each sub-region, so that the terrain change condition of each contour region can be reflected in real time, and powerful support is provided for terrain monitoring and evaluation; the method not only improves the accuracy and the instantaneity of the terrain change detection, but also is beneficial to timely finding out the potential geological disaster risk, and provides scientific basis for related decisions;
Step three, the surface image of each sub-area is acquired through mapping equipment in the mobile station, the area of each sub-area is calculated by comparing with the initial sub-area, and the area change index of each contour area is further calculated ; Calculating the curvature of each edge feature point in the contour region according to the surface image, and further calculating the curvature change index/>, of each contour region; Index of area change/>And curvature change index/>Combining to obtain a second topography change index/>, of each contour region；
The third step comprises the following steps:
Step 301, carrying out plane scanning on a sub-region where each mobile station is located through a laser scanner in the mobile station, obtaining three-dimensional point cloud data of the surface of the sub-region, and fitting an optimal plane as a surface image of the current sub-region through a least square method on the preprocessed point cloud data; only the area equal to the initial elevation in the range of the subarea is scanned during scanning, namely when no surface exists in front or an obstacle exists in front is scanned, the planar scanning in the direction is ended;
a laser scanner is a device that uses laser technology to measure, and can acquire a large amount of three-dimensional point cloud data by scanning the target surface, and these data can be used to construct a three-dimensional model of the target surface; the basic working principle of the laser scanner is that a beam of laser is emitted by a laser diode, reflected back after being irradiated to the target surface, and the time difference or phase difference of the reflected light is received and measured by the scanner, so that the distance between the target surface and the scanner is calculated; meanwhile, the laser scanner can realize point-by-point scanning of the target surface through rotation or reciprocating motion of the scanning mirror, and acquire three-dimensional coordinate information of the surface.
Step 302, acquiring a current surface image of each sub-area, placing the current surface image and the initial surface image of each sub-area on the same map window, reserving the overlapped area, and removing other areas; calculating the area of the reserved area by image processing software to be used as the current area of each sub-area;
Step 303, taking the sum of the current areas of all the subareas in each contour region as the current total area of each contour region, and combining the current total area with the initial total area to obtain the area change index of each contour region The expression is:
；
Wherein, Represents the/>Initial total area of the individual contour regions.
Step 304, combining the sub-planes of each contour region to form a total plane of the current contour region, extracting edge feature points of the current contour region according to the extraction method of the edge feature points of the contour region, respectively calculating the curvatures of each edge feature point in the initial contour region and the current contour region through GIS software, comparing the curvatures of the edge feature points at corresponding positions in the two images, and combining the comparison results of the curvatures at all the edge feature points to obtain curvature change indexesThe expression is:
；
Wherein, Representing the number of edge feature points of each contour region,/>Representing the/>, in the current contour regionCurvature of individual edge feature points,/>Representing the first/>, in the initially corresponding contour regionCurvature of the edge feature points; if the number of edge feature points in the current contour region is different from that of the edge feature points in the initial contour region, the curvature of the edge feature points at the corresponding positions is calculated normally, and the curvature of the edge feature points at the rest positions is set to be 0, at the moment,/>The maximum value of the number of edge characteristic points in the current contour region and the initial contour region is set; for example, for edge feature points which do not exist in the current contour region, the formula is adoptedCalculating a change value of the curvature;
Step 305, index area change And curvature change index/>Combining to obtain a second topography change index/>, of each contour regionThe expression is:
；
Wherein, 、/>Area change index/>, respectivelyAnd curvature change index/>And/>。
In use, the contents of steps 301 to 305 are combined:
The laser scanner is utilized to acquire three-dimensional point cloud data of the surface of the subarea, and an optimal plane is fitted to be used as a surface image, so that the accuracy and the authenticity of the data are ensured; calculating an area change index by comparing the initial and current surface images, which helps quantify the area change of the terrain surface; extracting and calculating the curvature of the edge characteristic points, and further obtaining a curvature change index, which can reflect the shape and morphological change of the terrain; combining the area change index with the curvature change index to obtain a second topography change index, which provides a basis for comprehensive evaluation of topography change; the accuracy and the efficiency of the terrain variation analysis are improved.
Step four, obtaining a first topography change index of each contour regionAnd a second topography change index/>Calculating the comprehensive topography change index/>, of each contour regionJudging the relation between the re-measurement threshold value and the re-measurement threshold value, and adopting a corresponding re-measurement strategy according to the quantity exceeding the re-measurement threshold value;
the fourth step comprises the following steps:
Step 401, obtaining a first topography variation index of each contour region And a second topography change index/>Calculating the comprehensive topography change index/>, of each contour region：
；
Comprehensive topography change index of each corresponding contour regionThe calculation formula of (2) is as above;
Step 402, presetting a redraw threshold, wherein the contour region exceeding the redraw threshold is determined as a significant change in terrain, and the contour region and the neighboring regions of the contour region need to be redrawn, which is specifically determined as follows:
if the comprehensive topography change indexes of all the contour areas do not exceed the re-survey threshold value, the fact that the topography of the current area does not have obvious topography change is indicated, and re-survey is not needed;
If the integrated topography change indexes of the areas with the equal height exceed the redrawing threshold value, the number of the equal height areas and the equal height areas adjacent to the equal height areas is used for If/>The method indicates that only a small part of the contour region in the current region has obvious terrain change, and only the region needs to be re-mapped; if/>And the method indicates that obvious terrain change occurs in a plurality of equal-altitude areas in the current area, and the whole area needs to be re-mapped.
In use, the contents of steps 401 to 402 are combined:
By combining the first topography variation index and the second topography variation index, the degree and the range of the topography variation can be comprehensively estimated; when the comprehensive topography change index exceeds a preset re-survey threshold, the system can automatically judge whether re-survey is needed or not, and flexibly select a re-survey strategy according to the number of the equal-height areas exceeding the threshold, so that unnecessary re-survey of the whole area is avoided, and the surveying efficiency is improved; the design is not only helpful for timely finding and coping with the change of the terrain, but also improves the mapping efficiency.
Referring to fig. 2, the present invention further provides a real-time terrain intelligent mapping system, comprising:
The data acquisition and processing module is used for generating initial contour map data of the current area in a mode of combining various mapping data; extracting continuous areas with the same height in the initial contour map, dividing each contour area into a plurality of equal-sized subareas, and distributing a unique number for each subarea; establishing a plane rectangular coordinate system, wherein a plurality of intersection points of two arranged straight lines and edge points of each contour region are used as edge characteristic points of each contour region;
the first terrain variation analysis module is used for acquiring real-time coordinates of each mobile station based on a GPS receiver in the reference station and the mobile station and a real-time dynamic differential positioning method, and calculating a position deviation index of each sub-area through a coordinate difference value between the current position coordinates and the initial position coordinates of each mobile station And further forming a first topography index/>, for each contour region；
A second topographic variation analysis module for acquiring the surface image of each sub-area through the mapping equipment in the mobile station, comparing with the initial sub-area to calculate the area of each sub-area, and further calculating to obtain the area variation index of each contour area; Calculating the curvature of each edge feature point in the contour region according to the surface image, and further calculating the curvature change index/>, of each contour region; Index of area change/>And curvature change index/>Combining to obtain a second topography change index/>, of each contour region；
The redrawing strategy generation module is used for obtaining a first topography change index of each contour regionAnd a second topography change index/>Calculating the comprehensive topography change index/>, of each contour regionAnd judging the relation between the re-measurement threshold value and the re-measurement threshold value, and adopting a corresponding re-measurement strategy according to the quantity exceeding the re-measurement threshold value.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in accordance with embodiments of the present invention are produced in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable devices. The computer instructions may be stored in or transmitted across a computer storage medium.
The computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). Computer storage media may be any available media that can be accessed by a computer or data storage devices, such as servers, data centers, etc. that contain an integration of one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (Solid STATEDISK, SSD)), or the like.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (7)
1. A real-time terrain intelligent mapping method is characterized in that: comprising the following steps:
generating initial contour map data of a current region in a mode of combining various mapping data, dividing continuous regions at the same elevation into subregions, and selecting edge feature points of each subregion;
Selecting a fixed point in a current area as a reference station, and selecting a point in each sub-area as a mobile station of the area; acquiring real-time coordinates of each mobile station based on a GPS receiver in the reference station and the mobile station and a real-time dynamic differential positioning method, and calculating a position deviation index of each sub-area through a coordinate difference value between the current position coordinates and the initial position coordinates of each mobile station And further forming a first topography index/>, for each contour region；
The surface image of each sub-area is acquired through mapping equipment in the mobile station, the area of each sub-area is calculated by comparing with the initial sub-area, and the area change index of each contour area is further calculated; Calculating the curvature of each edge feature point in the contour region according to the surface image, and further calculating the curvature change index/>, of each contour region; Index of area change/>And curvature change index/>Combining to obtain a second topography change index/>, of each contour region；
Acquiring a first topography variation index of each contour regionAnd a second topography change index/>Calculating the comprehensive topography change index/>, of each contour regionJudging the relation between the re-measurement threshold value and the re-measurement threshold value, and adopting a corresponding re-measurement strategy according to the quantity exceeding the re-measurement threshold value;
extracting continuous regions with the same height from the initial contour map by using Representing the total number of the equal-altitude areas, dividing each equal-altitude area into a plurality of equal-size sub-areas, and distributing a unique number for each sub-area, wherein the number is not 0; take the Oriental orientation as/>The axial direction, north-positive is/>Axial direction parallel to/>, on the contour region edgeThe lowest tangent to the axial direction is parallel to/>The intersection point of the leftmost tangent line in the axial direction is taken as an origin, and a plane rectangular coordinate system is established;
two straight lines are arranged in the established plane rectangular coordinate system, respectively />Wherein/>Maximum value of the ordinate of the edge point of each contour region,/>Maximum value of abscissa of edge point of each contour region; taking a plurality of intersection points of the two straight lines and the edge points of each contour region as edge characteristic points of each contour region;
With reference station as origin Establishing a space rectangular coordinate system, and calculating a positioning error by a GPS receiver in the mobile station through receiving data from a reference station and performing differential correction processing by using an RTK technology; acquiring position coordinate information of each mobile station by receiving GPS satellite signals, and subtracting the position coordinate information from the calculated positioning error to obtain the position coordinate of each mobile station; calculating the initial position coordinates/>, of each mobile station in the above mannerReal-time location coordinatesWherein/>Represents the/>Sub-regions of the number;
Recording position coordinates on each mobile station in real time ; Current real-time location coordinates through each mobile stationWith initial position coordinates/>Calculates the position deviation index/>, of each sub-regionThe expression is: /(I)；
Index of positional deviation of all sub-areas in the contour areaIn combination, form a first topography index/>, of the high areasThe expression is: /(I)Wherein/>Represents the/>A set of sub-region numbers in the individual contour regions.
2. A method of intelligent mapping of real-time terrain as claimed in claim 1, wherein:
Carrying out plane scanning on the subarea where each mobile station is located by using a laser scanner in each mobile station to acquire a current surface image of the subarea; placing the current surface image and the initial surface image of each sub-area on the same map window, reserving the overlapped area, and eliminating other areas; calculating the area of the reserved area by image processing software to be used as the current area of each sub-area;
taking the sum of the current areas of all the subareas in each contour region as the current total area of each contour region, and combining the current total area with the initial total area to obtain the area change index of each contour region The expression is: /(I)；
Wherein,Represents the/>Initial total area of the individual contour regions.
3. A real-time terrain intelligent mapping method as claimed in claim 2, wherein:
Combining the sub-planes of each contour region to form a total plane of the current contour region, extracting edge feature points of the current contour region according to the extraction method of the edge feature points of the contour region, respectively calculating the curvatures of each edge feature point in the initial contour region and the current contour region through GIS software, comparing the curvatures of the edge feature points at corresponding positions in two images, and combining the comparison results of the curvatures at all the edge feature points to obtain curvature change indexes The expression is:；
Wherein, Representing the number of edge feature points of each contour region,/>Representing the/>, in the current contour regionCurvature of individual edge feature points,/>Representing the first/>, in the initially corresponding contour regionCurvature of the edge feature points; if the number of edge feature points in the current contour region is different from that of the edge feature points in the initial contour region, the curvature of the edge feature points at the corresponding positions is calculated normally, and the curvature of the edge feature points at the rest positions is set to be 0, at the moment,/>The maximum value of the number of the edge characteristic points in the current contour region and the initial contour region is obtained.
4. A real-time terrain intelligent mapping method as claimed in claim 3, characterized in that:
Index of change of area And curvature change index/>Combining to obtain a second topography change index/>, of each contour regionThe expression is: /(I)；
Wherein,、/>Area change index/>, respectivelyAnd curvature change index/>And/>。
5. The method for intelligent mapping of real-time topography as claimed in claim 4, wherein:
Acquiring a first topography variation index of each contour region And a second topography change index/>Calculating the comprehensive topography change index/>, of each contour region：/>；
Comprehensive topography change index of each corresponding contour regionThe calculation formula of (2) is as above.
6. The method for intelligent mapping of real-time topography as claimed in claim 5, wherein:
Presetting a re-survey threshold, and if the comprehensive topography change indexes of all the contour areas do not exceed the re-survey threshold, indicating that the topography of the current area does not have obvious topography change, and re-survey of the current area is not needed;
If the integrated topography change indexes of the areas with the equal height exceed the redrawing threshold value, the number of the equal height areas and the equal height areas adjacent to the equal height areas is used for If/>The method indicates that only a small part of the contour region in the current region has obvious terrain change, and only the region needs to be re-mapped; if/>And the method indicates that obvious terrain change occurs in a plurality of equal-altitude areas in the current area, and the whole current area needs to be re-mapped.
7. A real-time terrain intelligent mapping system, comprising:
The data acquisition and processing module is used for generating initial contour map data of the current area in a mode of combining various mapping data; extracting continuous areas with the same height in the initial contour map, dividing each contour area into a plurality of equal-sized subareas, and distributing a unique number for each subarea; establishing a plane rectangular coordinate system, wherein a plurality of intersection points of two arranged straight lines and edge points of each contour region are used as edge characteristic points of each contour region;
the first terrain variation analysis module is used for acquiring real-time coordinates of each mobile station based on a GPS receiver in the reference station and the mobile station and a real-time dynamic differential positioning method, and calculating a position deviation index of each sub-area through a coordinate difference value between the current position coordinates and the initial position coordinates of each mobile station And further forming a first topography index/>, for each contour region；
A second topographic variation analysis module for acquiring the surface image of each sub-area through the mapping equipment in the mobile station, comparing with the initial sub-area to calculate the area of each sub-area, and further calculating to obtain the area variation index of each contour area; Calculating the curvature of each edge feature point in the contour region according to the surface image, and further calculating the curvature change index/>, of each contour region; Index of area change/>And curvature change index/>Combining to obtain a second topography change index/>, of each contour region；
The redrawing strategy generation module is used for obtaining a first topography change index of each contour regionAnd a second topography change index/>Calculating the comprehensive topography change index/>, of each contour regionAnd judging the relation between the re-measurement threshold value and the re-measurement threshold value, and adopting a corresponding re-measurement strategy according to the quantity exceeding the re-measurement threshold value.
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| CN102506823A (en) * | 2011-09-30 | 2012-06-20 | 清华大学 | Differential GPS (global position system) traffic accident scene investigation system and investigation method thereof |
| CN106846308A (en) * | 2017-01-20 | 2017-06-13 | 广州市城市规划勘测设计研究院 | The detection method and device of the topographic map precision based on a cloud |
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