农村公路信息快速采集系统的设计与实现
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摘要
随着国民经济建设的迅速发展,作为干线公路网支撑的农村公路近几年来越来越受到了国家的日益重视。为了能够在农村公路的规划、建设、养护、管理和应用中科学决策,有的放矢,农村公路信息数据库的地位日益重要。但由于农村公路具有小、多、远、散、偏的特点,使作为信息数据库建设、维护和更新工作重要组成部分的信息采集和处理工作面临较大的困难。为了克服这些困难,结合近年来的测绘新技术发展趋势,充分利用公路信息采集便于车辆机动展开这一优势,本文提出了基于道路移动测量技术构建农村公路信息快速采集与处理系统的设想,并进行了工程化的设计与实现。
首先,本文对移动测量技术中几项关键技术进行了研究和实现：
1)动态条件下的组合定位技术。本文对传统的GPS定位、GPS差分定位、惯性定位定姿等技术进行了研究,分析各类技术的优缺点,阐述了将GPS差分和惯性定位技术组合应用的优势和在系统中的必要性,研究了组合定位技术的相关理论,解决了该技术在系统中集成的主要难点,最终实现了该技术在系统中的应用,从而在动态条件下,实现了对车辆位置的快速定位、快速定姿,并较好地解决了动态条件下的定位连续性问题的,减少了因遮挡等造成的定位失锁现象,提高了定位定姿的效率和可靠度。
2)无控制点条件下的地面近景摄影测量技术。无控制点条件下的地面近景摄影测量技术是本系统的核心技术,是对传统遥感技术的拓展应用。本文研究了无控制点条件下地面近景摄影测量技术的原理,核心算法及测量模型,对系统误差进行分解分析,并以此为依据完成了有相关传感器设备的选型,制定了标校方法,实现了该技术在系统中的应用,解决了动态条件下对目标的测量。
3)多传感器的时空同步控制技术。多传感器在一个系统中的集成不是设备的简单叠加,而是通过合理的设计、编排,形成一个具有完整功能的整体。本文研究了所涉及到各类传感器的性能特点、误差曲线和控制方法,通过时间同步器、坐标归一化算法的设计与实现,实现了多传感器的集成化和一体化。
随后,文中基于已完成的研究工作,从工程实现的角度论述了系统的设计思想和实现方法,给出了相应的系统组成方案。特别阐述了提高系统集成性、可靠性、易用性和整体作业效率的方法。这些方案、方法和措施是基于实际的研究工作给出的,具有很强的实用性。
最后,为了表现上述研究成果的价值和意义,文中给出实际的试验方案,并结合真实的试验数据进行了分析总结,给出了试验结果,表明该系统技术先进,能够满足农村公路电子地图成图和信息数据库建设所需信息采集、处理功能要求和测量精度要求。
It takes more and more serious attention with the development of the national economic, the rural road that regarded as propping up of arterial highway net in the recent years. For making a scientific policy in rural area highway plan, construction, curing, management and application, the rural road information data base is necessary. But due to some characteristics of rural road such as small in mileage, more in amount, far from another, scattered in distributing and out-of-way places, it become more difficulty to collect the Information that is important for construct, keeping and updating data base. The tradition method based on manpower on foot has been already eliminated for its inefficient, expensive and bad quality. The mechanization information collect based on GPS technology becomes main way in recent years, but insufficient is still exists because of GPS positioning technology self s defect, this one way. To overcome these deficiencies, this paper has been submitted a idea about structuring a rural highway information collecting and handling system union the RMMS(Road Mobile Mapping Technology) and rural road advantage which is easy to drive, and has been realized the system according to this idea.
The primo, several key technologies of RMMS having discussed in this paper:
1) Intelligence positioning technology. In here, the technology how to gains position, posture information quickly and how to resolve the positioning continuity problem is described.
2) The closed rang photographic measuring technology without control point. This paper has been introduced how to locate the positions of the objects, based on the three-dimensional images and absolute and relative position information that has been obtained dynamically.
3) space-time synchronization control technology. Expound how to keep coherence of time and coordinate system between the various sensors.
Follow, this design, project, ability and elements of the system have been introduced. Especially, two methods have been proposed to improve the systems integration, reliability and usability.
At last, some test result have been introduced. Experiment results show that the system owns advanced technology, meet the need to collect and handle information, and further, it can be used to map electronic map of rural road and Construction, maintenance and updating the database.
首先,本文对移动测量技术中几项关键技术进行了研究和实现：
1)动态条件下的组合定位技术。本文对传统的GPS定位、GPS差分定位、惯性定位定姿等技术进行了研究,分析各类技术的优缺点,阐述了将GPS差分和惯性定位技术组合应用的优势和在系统中的必要性,研究了组合定位技术的相关理论,解决了该技术在系统中集成的主要难点,最终实现了该技术在系统中的应用,从而在动态条件下,实现了对车辆位置的快速定位、快速定姿,并较好地解决了动态条件下的定位连续性问题的,减少了因遮挡等造成的定位失锁现象,提高了定位定姿的效率和可靠度。
2)无控制点条件下的地面近景摄影测量技术。无控制点条件下的地面近景摄影测量技术是本系统的核心技术,是对传统遥感技术的拓展应用。本文研究了无控制点条件下地面近景摄影测量技术的原理,核心算法及测量模型,对系统误差进行分解分析,并以此为依据完成了有相关传感器设备的选型,制定了标校方法,实现了该技术在系统中的应用,解决了动态条件下对目标的测量。
3)多传感器的时空同步控制技术。多传感器在一个系统中的集成不是设备的简单叠加,而是通过合理的设计、编排,形成一个具有完整功能的整体。本文研究了所涉及到各类传感器的性能特点、误差曲线和控制方法,通过时间同步器、坐标归一化算法的设计与实现,实现了多传感器的集成化和一体化。
随后,文中基于已完成的研究工作,从工程实现的角度论述了系统的设计思想和实现方法,给出了相应的系统组成方案。特别阐述了提高系统集成性、可靠性、易用性和整体作业效率的方法。这些方案、方法和措施是基于实际的研究工作给出的,具有很强的实用性。
最后,为了表现上述研究成果的价值和意义,文中给出实际的试验方案,并结合真实的试验数据进行了分析总结,给出了试验结果,表明该系统技术先进,能够满足农村公路电子地图成图和信息数据库建设所需信息采集、处理功能要求和测量精度要求。
It takes more and more serious attention with the development of the national economic, the rural road that regarded as propping up of arterial highway net in the recent years. For making a scientific policy in rural area highway plan, construction, curing, management and application, the rural road information data base is necessary. But due to some characteristics of rural road such as small in mileage, more in amount, far from another, scattered in distributing and out-of-way places, it become more difficulty to collect the Information that is important for construct, keeping and updating data base. The tradition method based on manpower on foot has been already eliminated for its inefficient, expensive and bad quality. The mechanization information collect based on GPS technology becomes main way in recent years, but insufficient is still exists because of GPS positioning technology self s defect, this one way. To overcome these deficiencies, this paper has been submitted a idea about structuring a rural highway information collecting and handling system union the RMMS(Road Mobile Mapping Technology) and rural road advantage which is easy to drive, and has been realized the system according to this idea.
The primo, several key technologies of RMMS having discussed in this paper:
1) Intelligence positioning technology. In here, the technology how to gains position, posture information quickly and how to resolve the positioning continuity problem is described.
2) The closed rang photographic measuring technology without control point. This paper has been introduced how to locate the positions of the objects, based on the three-dimensional images and absolute and relative position information that has been obtained dynamically.
3) space-time synchronization control technology. Expound how to keep coherence of time and coordinate system between the various sensors.
Follow, this design, project, ability and elements of the system have been introduced. Especially, two methods have been proposed to improve the systems integration, reliability and usability.
At last, some test result have been introduced. Experiment results show that the system owns advanced technology, meet the need to collect and handle information, and further, it can be used to map electronic map of rural road and Construction, maintenance and updating the database.
引文
[1]张普照.陕西省农村客运网络化发展研究：硕士论文.陕西西安：长安大学,2008.
[2]刘曼娜.农村道路水泥混凝土路面研究：硕士论文.河北石家庄：河北工业大学,2007.
[3]朱美锋,李凌云,振波.浅析农村道路水泥砼路面[J].科技信息,2007,29：129-130.
[4]李庄.农村公路基础数据库的建立和应用[J].西部交通科技,2007,2：86-88.
[5]刘礼勇,范文涛,李洪囤等.应用GIS、GPS技术建设农村公路信息管理平台探讨[J].http://d.g.wanfangdata.com.cn/Conference_7105198.aspx.
[6]孔令才,廖顺华,吴小燕.实现广西公路管理信息化的GIS技术应用探讨[J],西部交通科技,2007,4：98-100.
[7]张映雪,黄利芒.GIS技术在公路建设管理中的应用研究[J].中国公路学报,2004,17(1)：90-93.
[8]郭怡桦,毛舒.GIS在农村公路建设管理信息系统中的应用[J].浙江交通职业技术学院学报,2007,8(2)：66-68.
[9]徐兮,冯晓.用边缘检测法提取农村道路信息[J].四川测绘,2007,30(4)：175-178.
[10]陈鹰.遥感影像的数字摄影测量[M].上海：同济大学出版社,2003.
[11]Meng F., Yang X., Sun P., et al. A Novel Filtering and Fusion Algorithm for Sequence Image Matching Navigation. Image and Signal Processing. CISP'08. Congress,2008,668-671.
[12]高子让.基于ARCGIS ENGINE的公路地理信息系统研究：硕士论文.陕西西安：西安科技大学,2009.
[13]李德仁,陈小明,郭丙轩等.车载GPS道路信息采集和更新系统研究[J].武汉测绘科技大学学报,2000,25(2)：38-43.
[14]陈炜,李瑞锋,张晓东.地面移动测量技术的发展与现状[J].测绘 科学与工程,2007,3：28-32.
[15]李德仁,胡庆武.基于可量测影像的地理信息服务[J].武大学报信息科学版,2007,5：377-380,418.
[16]李德仁.移动测量技术及其应用[J].地理空间信息,2006,4(4)：1-5.
[17]李德仁.论可量测实景影像的概念与应用[J].测绘科学,2007,7：20-23.
[18]李德仁,胡庆武.基于可视可量可挖掘实景影像的空间信息服务[J].武汉大学学报,2007,5：15-17.
[19]Sim D. G., Park R. H., Kim R. K., et al. Integrated position estimation using aerial image sequences. IEEE Trans. Pattern Analysis and Machine Intelligence.2002.24(1):1-18.
[20]Novak K. Mobile Mapping Technology for GIS Data Collection[J]. RE&RS,1995,61(5):493-501.
[21]宁津生,刘经南,陈俊勇等.现代大地测量理论与技术[M].武汉：武汉大学出版社,2006,134-135.
[22]许其凤.GPS卫星导航与精密定位[M].北京：解放军出版社,1994,28-32.
[23]王广运,郭秉义,李洪涛.差分GPS定位技术与应用[M].北京：电子工业出版社,1995,97-98.
[24]吴福梅.GNSS/INS组合导航定位理论与算法研究：博士论文.河南郑州：信息工程大学,2010.
[25]董绪荣,张守信,华仲春.GPS/INS组合导航定位及其应用[M].长沙：国防科技大学出版社,1998,39-41.
[26]杨元喜著.自适应动态导航定位[M].北京：测绘出版社,2006,294-296.
[27]高为广.GPS/INS自适应组合导航算法研究：博士论文.河南郑州：信息工程大学,2008.
[28]Brita H. H., Bjφrn J., Per E.H., et al. Integrated Camera-Based Navigation[J]. The Journal of Navigation,2000,53(2):237-245.
[29]Huber P. J. Robust estimation of a location parameter[J]. Annals of Mathematical Statistics,1964,35:73-101.
[30]杨元喜,高为广.基于多传感器观测信息抗差估计的自适应融合导航[J].武汉大学学报信息科学版,2004,29(10)：885-888.
[31]杨元喜.动态系统的抗差估计[J].郑州测绘学院学报,1997,14(2)：79-84.
[32]杨元喜.等价权原理-参数平差模型的抗差最小二乘解[J],测绘通报,1994,6：33-35.
[33]杨元喜,高为广.基于方差分量估计的自适应融合导航[J].测绘学报,2004,33(1)：22-26.
[34]Yang Y., Xu T., He H. On adaptively kinematic filtering[J]. Acta Geodetica et Cartographica Sinica,2001,30(4):293-298.
[35]Yang Y., Cui X. and Gao W. Adaptive Integrated Navigation for Multi-sensor Adjustment Outputs[J], The Journal of Navigation,2004, 57(1):1-9.
[36]Yang Y., He H., Xu G. Adaptively robust filtering for kinematic geodetic positioning[J]. Journal of Geodesy,2001,75(2):109-116.
[37]Carlson N A.1988. Federated Filter for Fault-Tolerant Integrated Navigation system[J]. Position Location and Navigation Symposium. DLANS, Orlando.
[38]冯文灏.近景摄影测量[M].武汉：武汉大学出版社,2002.
[39]吴强.车载导航数据获取与处理技术研究：硕士论文.陕西西安：西安电子科技大学,2009.
[40]Wolf P. R. Elements of Photogrammetry[M]. Tokyo, Japan:McGraw Hill Kogakusha,1974,201-203
[41]徐青,吴寿虎,朱述龙,邱振戈.近代摄影测量[M].北京：解放军出版社,2006,56-57.
[42]Schenk T. Digital Photogrammetry[J]. TerraScience,1999, 1:248-251
[43]曾衍伟,龚建雅.空间数据质量控制与评价方法及实现技术[J].武汉大学学报,2004,8：22-25
[44]关海鹰.属性数据质量问题探讨[J].山东科技大学硕士论文,2004,5：10-14.
[45]吴芳华,金澄.矢量地图数据属性精度的检查与控制[J].测绘学院学报,2003,40(3)：38-40.
[2]刘曼娜.农村道路水泥混凝土路面研究：硕士论文.河北石家庄：河北工业大学,2007.
[3]朱美锋,李凌云,振波.浅析农村道路水泥砼路面[J].科技信息,2007,29：129-130.
[4]李庄.农村公路基础数据库的建立和应用[J].西部交通科技,2007,2：86-88.
[5]刘礼勇,范文涛,李洪囤等.应用GIS、GPS技术建设农村公路信息管理平台探讨[J].http://d.g.wanfangdata.com.cn/Conference_7105198.aspx.
[6]孔令才,廖顺华,吴小燕.实现广西公路管理信息化的GIS技术应用探讨[J],西部交通科技,2007,4：98-100.
[7]张映雪,黄利芒.GIS技术在公路建设管理中的应用研究[J].中国公路学报,2004,17(1)：90-93.
[8]郭怡桦,毛舒.GIS在农村公路建设管理信息系统中的应用[J].浙江交通职业技术学院学报,2007,8(2)：66-68.
[9]徐兮,冯晓.用边缘检测法提取农村道路信息[J].四川测绘,2007,30(4)：175-178.
[10]陈鹰.遥感影像的数字摄影测量[M].上海：同济大学出版社,2003.
[11]Meng F., Yang X., Sun P., et al. A Novel Filtering and Fusion Algorithm for Sequence Image Matching Navigation. Image and Signal Processing. CISP'08. Congress,2008,668-671.
[12]高子让.基于ARCGIS ENGINE的公路地理信息系统研究：硕士论文.陕西西安：西安科技大学,2009.
[13]李德仁,陈小明,郭丙轩等.车载GPS道路信息采集和更新系统研究[J].武汉测绘科技大学学报,2000,25(2)：38-43.
[14]陈炜,李瑞锋,张晓东.地面移动测量技术的发展与现状[J].测绘 科学与工程,2007,3：28-32.
[15]李德仁,胡庆武.基于可量测影像的地理信息服务[J].武大学报信息科学版,2007,5：377-380,418.
[16]李德仁.移动测量技术及其应用[J].地理空间信息,2006,4(4)：1-5.
[17]李德仁.论可量测实景影像的概念与应用[J].测绘科学,2007,7：20-23.
[18]李德仁,胡庆武.基于可视可量可挖掘实景影像的空间信息服务[J].武汉大学学报,2007,5：15-17.
[19]Sim D. G., Park R. H., Kim R. K., et al. Integrated position estimation using aerial image sequences. IEEE Trans. Pattern Analysis and Machine Intelligence.2002.24(1):1-18.
[20]Novak K. Mobile Mapping Technology for GIS Data Collection[J]. RE&RS,1995,61(5):493-501.
[21]宁津生,刘经南,陈俊勇等.现代大地测量理论与技术[M].武汉：武汉大学出版社,2006,134-135.
[22]许其凤.GPS卫星导航与精密定位[M].北京：解放军出版社,1994,28-32.
[23]王广运,郭秉义,李洪涛.差分GPS定位技术与应用[M].北京：电子工业出版社,1995,97-98.
[24]吴福梅.GNSS/INS组合导航定位理论与算法研究：博士论文.河南郑州：信息工程大学,2010.
[25]董绪荣,张守信,华仲春.GPS/INS组合导航定位及其应用[M].长沙：国防科技大学出版社,1998,39-41.
[26]杨元喜著.自适应动态导航定位[M].北京：测绘出版社,2006,294-296.
[27]高为广.GPS/INS自适应组合导航算法研究：博士论文.河南郑州：信息工程大学,2008.
[28]Brita H. H., Bjφrn J., Per E.H., et al. Integrated Camera-Based Navigation[J]. The Journal of Navigation,2000,53(2):237-245.
[29]Huber P. J. Robust estimation of a location parameter[J]. Annals of Mathematical Statistics,1964,35:73-101.
[30]杨元喜,高为广.基于多传感器观测信息抗差估计的自适应融合导航[J].武汉大学学报信息科学版,2004,29(10)：885-888.
[31]杨元喜.动态系统的抗差估计[J].郑州测绘学院学报,1997,14(2)：79-84.
[32]杨元喜.等价权原理-参数平差模型的抗差最小二乘解[J],测绘通报,1994,6：33-35.
[33]杨元喜,高为广.基于方差分量估计的自适应融合导航[J].测绘学报,2004,33(1)：22-26.
[34]Yang Y., Xu T., He H. On adaptively kinematic filtering[J]. Acta Geodetica et Cartographica Sinica,2001,30(4):293-298.
[35]Yang Y., Cui X. and Gao W. Adaptive Integrated Navigation for Multi-sensor Adjustment Outputs[J], The Journal of Navigation,2004, 57(1):1-9.
[36]Yang Y., He H., Xu G. Adaptively robust filtering for kinematic geodetic positioning[J]. Journal of Geodesy,2001,75(2):109-116.
[37]Carlson N A.1988. Federated Filter for Fault-Tolerant Integrated Navigation system[J]. Position Location and Navigation Symposium. DLANS, Orlando.
[38]冯文灏.近景摄影测量[M].武汉：武汉大学出版社,2002.
[39]吴强.车载导航数据获取与处理技术研究：硕士论文.陕西西安：西安电子科技大学,2009.
[40]Wolf P. R. Elements of Photogrammetry[M]. Tokyo, Japan:McGraw Hill Kogakusha,1974,201-203
[41]徐青,吴寿虎,朱述龙,邱振戈.近代摄影测量[M].北京：解放军出版社,2006,56-57.
[42]Schenk T. Digital Photogrammetry[J]. TerraScience,1999, 1:248-251
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