Survey data processing apparatus, survey data processing method and survey data processing program
A method and apparatus for determining the position of a laser scanner using one or more optical targets, each arranged at a known point. The apparatus includes: a ground control point position obtaining part which obtains information of arrangement positions of multiple optical reflection targets; a laser scanner approximate position data obtaining part which obtains an approximate position of a laser scanner; a laser scanning data obtaining part which obtains data of multiple luminescent points; a processing objective point extracting part which extracts multiple luminescent points having luminance exceeding a specific threshold value; and a laser scanner position calculating part which gives data of the arrangement position of the optical reflection target to each of the extracted multiple luminescent points so as to calculate position of the laser scanner.
1. A survey data processing apparatus comprising:
an optical reflection target position obtaining part which obtains information of arrangement positions of multiple optical reflection targets of which arrangement positions are known;
a laser scanner position obtaining part which obtains an approximate position of a laser scanner by position determination by a Wi-Fi device, by position determining using a GNSS position measuring device, or by reading from drawing data;
a laser scanning data obtaining part which obtains data of multiple luminescent points and direction of each multiple luminescent point viewed from the laser scanner as laser scanning data by laser scanning by the laser scanner in a range containing the multiple optical reflection targets;
a luminescent point extracting part which extracts multiple luminescent points having luminance exceeding a specific threshold value among multiple luminescent points;
a laser scanner position calculating part which selects a same number of luminescent points as the multiple optical reflection targets among the extracted multiple luminescent points and which gives them data of the arrangement position of the multiple optical reflection target as a position data of the selected luminescent points so as to calculate position of the laser scanner which performs the laser scanning as a provisionally calculated position by a backward intersection method;
a determining part which determines whether or not a difference between the approximate position and the provisional position is not more than a threshold value; and
a luminescent point determining part which determines the selected luminescent point as a reflection point of an optical reflection target of the multiple optical reflection targets in a case in which the difference is not more than the threshold value.
2. A survey data processing method comprising steps of:
obtaining information of arrangement positions of multiple optical reflection targets of which the arrangement positions are known;
obtaining an approximate position of a laser scanner by position determination by a Wi-Fi device, by position determining using a GNSS position measuring device, or by reading from drawing data;
obtaining data of multiple luminescent points and direction of each multiple luminescent point viewed from the laser scanner as laser scanning data by laser scanning by the laser scanner in a range containing the multiple optical reflection targets;
extracting multiple luminescent points having luminance exceeding a specific threshold value among multiple luminescent points;
selecting a same number of luminescent points as the multiple optical reflection targets among the extracted multiple luminescent points, and giving them data of the arrangement position of the multiple optical reflection target as a position data of the selected luminescent points so as to calculate position of the laser scanner which performs the laser scanning as a provisionally calculated position by a backward intersection method;
determining whether or not a difference between the approximate position and the provisional position is not more than a threshold value; and
determining the selected luminescent point as a reflection point of an optical reflection target of the multiple optical reflection targets in a case in which the difference is not more than the threshold value.
3. A non-transitory computer recording medium storing computer executable instructions that, when executed by a computer processor, cause the computer processor to perform operations for a survey data processing program, comprising:
obtaining information of arrangement positions of multiple optical reflection targets of which the arrangement positions are known;
obtaining an approximate position of a laser scanner by position determination by a Wi-Fi device, by position determining using a GNSS position measuring device, or by reading from drawing data;
obtaining data of multiple luminescent points and direction of each multiple luminescent point viewed from the laser scanner as laser scanning data by laser scanning by the laser scanner in a range containing the multiple optical reflection targets;
extracting multiple luminescent points having luminance exceeding a specific threshold value among multiple luminescent points;
selecting a same number of luminescent points as the multiple optical reflection targets among the extracted multiple luminescent points, and giving them data of the arrangement position of the multiple optical reflection target as a position data of the selected luminescent points so as to calculate position of the laser scanner which performs the laser scanning as a provisionally calculated position by a backward intersection method;
determining whether or not a difference between the approximate position and the provisional position is not more than a threshold value; and
determining the selected luminescent point as a reflection point of an optical reflection target of the multiple optical reflection targets in a case in which the difference is not more than the threshold value.