Abstract: The present invention provides a point cloud data acquisition method and device under a situation of no GNSS signal. The method comprises: re-sampling line data acquired from a topographic map to obtain discrete line data; generating a full-second PPS pulse in a simulating manner; counting by using a distance measuring instrument, sampling the count, when it is detected that the full-second PPS pulse is received, calculating position information at a current moment; simulating a GNSS satellite protocol according to the position information at the current moment; parsing the GNSS satellite protocol by using a point cloud data acquisition module to complete time synchronization, and controlling a LiDAR to acquire point cloud data; parsing the GNSS satellite protocol by using an inertial measurement module, and recording attitude determination positioning data in real time to generate POS data; and optimizing the POS data to obtain accurate point cloud data.
Type:
Grant
Filed:
December 25, 2017
Date of Patent:
July 12, 2022
Assignees:
CHONGQING SURVEY INSTITUTE, CHONGQING CYBERCITY SCI-TECH CO., LTD.
Inventors:
Hanxin Chen, Zejun Xiang, Chuan Long, Jing Ming, Yonggang Gou, Nan Lv, Han Chen, Zaiqian Luo, Feng Li, Zhi Huang, Xiaolin Hu
Abstract: The present invention provides a point cloud data acquisition method and device under a situation of no GNSS signal. The method comprises: re-sampling line data acquired from a topographic map to obtain discrete line data; generating a full-second PPS pulse in a simulating manner; counting by using a distance measuring instrument, sampling the count, when it is detected that the full-second PPS pulse is received, calculating position information at a current moment; simulating a GNSS satellite protocol according to the position information at the current moment; parsing the GNSS satellite protocol by using a point cloud data acquisition module to complete time synchronization, and controlling a LiDAR to acquire point cloud data; parsing the GNSS satellite protocol by using an inertial measurement module, and recording attitude determination positioning data in real time to generate POS data; and optimizing the POS data to obtain accurate point cloud data.
Type:
Application
Filed:
December 25, 2017
Publication date:
July 22, 2021
Applicants:
CHONGQING SURVEY INSTITUTE, CHONGQING CYBERCITY SCI-TECH CO., LTD.
Inventors:
HANXIN CHEN, ZEJUN XIANG, CHUAN LONG, JING MING, YONGGANG GOU, NAN LV, HAN CHEN, ZAIQIAN LUO, FENG LI, ZHI HUANG, XIAOLIN HU