Research on mobile data collection system based on multisensor

CHEN Yun-fang~1; YE Ze-tian~2; ZHANG Heng-tie~3; SHI Bo~1

doi:10.13873/j.1000-97872006.12.008

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Research on mobile data collection system based on multisensor

更新时间：2025-09-11

- Research on mobile data collection system based on multisensor
- Issue 12, Pages: 23-25(2006)
- 作者机构：
  
  1. 山东科技大学地球信息科学与工程学院
  2. 中国测绘科学研究院
  3. 泰安市公路局一处
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872006.12.008
  CLC： TP274.2
- Published：2006
- 稿件说明：
移动端阅览
[1]陈允芳,叶泽田,张恒铁,石波.多传感器组合的移动车载数据采集系统研究[J].传感器与微系统,2006(12):23-25.

CHEN Yun-fang~1, YE Ze-tian~2, ZHANG Heng-tie~3, et al. Research on mobile data collection system based on multisensor[J]. 2006, (12): 23-25.
[1]陈允芳,叶泽田,张恒铁,石波.多传感器组合的移动车载数据采集系统研究[J].传感器与微系统,2006(12):23-25. DOI： 10.13873/j.1000-97872006.12.008.

CHEN Yun-fang~1, YE Ze-tian~2, ZHANG Heng-tie~3, et al. Research on mobile data collection system based on multisensor[J]. 2006, (12): 23-25. DOI： 10.13873/j.1000-97872006.12.008.

摘要

多传感器数据融合作为一门新兴前沿技术

已广泛应用于许多研究领域。三维信息快速采集是真实建模与三维虚拟现实的关键。提出了一种基于多传感器融合的车载移动式三维数据快速采集系统

集成了激光扫描仪、线/面阵CCD相机及GPS与IMU等多种传感器

以完成城市路面街道和建（构）筑物的三维数据自动采集。重点探讨了定位定姿方案设计及其实现

将GPS和IMU数据通过卡尔曼（Kalm an）滤波进行融合

可推测出整个系统及各传感器的位置和最佳姿态估计

以快速获取城市目标的地理坐标和三维建模信息

重建城市路面街道的三维真实场景。

Abstract

Multisensor data fusion technology

as a rising foreland

is applied in many research areas.Fast collection of three-dimensions information is the key technique in three-dimensions real modeling and virtual reality.A moving mobile data fast collection system based on multisensor fusion is brought forward.Many sensors such as CCD camera

laser scanner

GPS and IMU are integrated here to accomplish the three-dimensions data automatic collection task of city road surface

construction and building.Localization and orientation project design and implementation are discussed.Fusing GPS and IMU data through Kalman filter

an optimal estimate of position and attitude of the whole system composed by all sensors can be evaluated.Geographic coordinate and three-dimensions modeling information of city target can be fast acquired.As a result

three-dimensions actual city road surface and street scene are reconstructed.

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Keywords

references

卡尔曼滤波与组合导航原理[M]. 西北工业大学出版社 , 秦永元等编著, 1998

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