摘要
针对室内及地下三维位置信息测量中GPS信号容易缺失的问题,本文采用了激光雷达(LiDAR)和惯性测量装置(IMU)等多传感器相融合的移动测量系统,激光雷达通过记录待测物体表面大量密集点的三维坐标,可以快速重建物体的三维模型,进而形成高精密度的三维激光点云数据。首先利用多传感器的融合工作并结合SLAM算法,实现同步轨迹与成图生成,然后将得到的轨迹数据与LiDAR扫描数据进行时间、空间同步,最终得到冗余度低、精度高的室内三维激光点云数据,利用三维激光点云数据可以获得物体的位置信息等。三维实景地图与BIM模型融合后可以更好的帮助后期运维人员的管理,以期减少运营风险造成的损失。
To solve the problem that GPS signals are easy to be lost in indoor and underground 3 d position information measurement,this paper adopts a mobile measurement system integrating multiple sensors,such as LiDAR and IMU,by recording the 3 d coordinates of a large number of dense points on the surface of the object to be measured,LiDAR can quickly reconstruct the 3 D model of the object,and then form the 3 d laser point cloud data with high precision.Firstly,the fusion of multi-sensor and SLAM algorithm are used to realize synchronous trajectory and image generation,then,the trajectory data obtained are synchronized with the LiDAR scan data in time and space,finally,the indoor 3 D laser point cloud data with low redundancy and high precision can be obtained,and the location information of objects can be obtained by using 3 d laser point cloud data.The integration of 3 D real map and BIM model can better help the management of operation and maintenance personnel in the later stage,in order to reduce the loss caused by operation risk.
作者
梁晓旭
刘敏
张举
何为
刘鹏
Liang Xiaoxu;Liu Min;Zhang Ju;He Wei;Liu Peng(Jianke Public Facility Operation Management Co.,Ltd.,Beijing 100044,China)
出处
《智能建筑电气技术》
2022年第1期59-62,共4页
Electrical Technology of Intelligent Buildings
基金
中国建设科技集团科技创新基金项目《运维环境感知装置其在BIM空间中自动添加技术研究》(Z2021J04)。
关键词
移动测量系统
精度
定位
传感器
BIM
mobile measurement system
accuracy
location
sensors
BIM
