Absolute Positioning and Orientation of MLSS in a Subway Tunnel Based on Sparse Point-Assisted DR
When performing the inspection of subway tunnels, there is an immense amount of data to be collected and the time available for inspection is short; however, the requirement for inspection accuracy is high. In this study, a mobile laser scanning system (MLSS) was used for the inspection of subway tu...
| Main Authors: | , , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-01-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/20/3/645 |
| _version_ | 1811187268347494400 |
|---|---|
| author | Qian Wang Chao Tang Cuijun Dong Qingzhou Mao Fei Tang Jianping Chen Haiqian Hou Yonggang Xiong |
| author_facet | Qian Wang Chao Tang Cuijun Dong Qingzhou Mao Fei Tang Jianping Chen Haiqian Hou Yonggang Xiong |
| author_sort | Qian Wang |
| collection | DOAJ |
| description | When performing the inspection of subway tunnels, there is an immense amount of data to be collected and the time available for inspection is short; however, the requirement for inspection accuracy is high. In this study, a mobile laser scanning system (MLSS) was used for the inspection of subway tunnels, and the key technology of the positioning and orientation system (POS) was investigated. We utilized the inertial measurement unit (IMU) and the odometer as the core sensors of the POS. The initial attitude of the MLSS was obtained by using a static initial alignment method. Considering that there is no global navigation satellite system (GNSS) signal in a subway, the forward and backward dead reckoning (DR) algorithm was used to calculate the positions and attitudes of the MLSS from any starting point in two directions. While the MLSS passed by the control points distributed on both sides of the track, the local coordinates of the control points were transmitted to the center of the MLSS by using the ranging information of the laser scanner. Then, a four-parameter transformation method was used to correct the error of the POS and transform the 3-D state information of the MLSS from a navigation coordinate system (NCS) to a local coordinate system (LCS). This method can completely eliminate a MLSS’s dependence on GNSS signals, and the obtained positioning and attitude information can be used for point cloud data fusion to directly obtain the coordinates in the LCS. In a tunnel of the Beijing–Zhangjiakou high-speed railway, when the distance interval of the control points used for correction was 120 m, the accuracy of the 3-D coordinates of the point clouds was 8 mm, and the experiment also showed that it takes less than 4 h to complete all the inspection work for a 5–6 km long tunnel. Further, the results from the inspection work of Wuhan subway lines showed that when the distance intervals of the control points used for correction were 60 m, 120 m, 240 m, and 480 m, the accuracies of the 3-D coordinates of the point clouds in the local coordinate system were 4 mm, 6 mm, 7 mm, and 8 mm, respectively. |
| first_indexed | 2024-04-11T14:00:36Z |
| format | Article |
| id | doaj.art-7cd78f0310574e15b8c909522f93f6b6 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T14:00:36Z |
| publishDate | 2020-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-7cd78f0310574e15b8c909522f93f6b62022-12-22T04:20:09ZengMDPI AGSensors1424-82202020-01-0120364510.3390/s20030645s20030645Absolute Positioning and Orientation of MLSS in a Subway Tunnel Based on Sparse Point-Assisted DRQian Wang0Chao Tang1Cuijun Dong2Qingzhou Mao3Fei Tang4Jianping Chen5Haiqian Hou6Yonggang Xiong7China University of Geosciences, NO.29 Xueyuan Road, Beijing 100083, ChinaBeijing Urban Construction Exploration & Surveying Design Research Institute CO., LTD, Beijing 100101, ChinaState Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, No.129 Luoyu Road, Wuhan 430079, ChinaState Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, No.129 Luoyu Road, Wuhan 430079, ChinaWuhan Metro Bridge and Tunnel Management Co., Ltd., NO.22 Qinyuan Road, Wuhan 430000, ChinaChina University of Geosciences, NO.29 Xueyuan Road, Beijing 100083, ChinaBeijing Urban Construction Exploration & Surveying Design Research Institute CO., LTD, Beijing 100101, ChinaWuhan Hirail Profiling Technology Co., Ltd, Wuhan 430060, ChinaWhen performing the inspection of subway tunnels, there is an immense amount of data to be collected and the time available for inspection is short; however, the requirement for inspection accuracy is high. In this study, a mobile laser scanning system (MLSS) was used for the inspection of subway tunnels, and the key technology of the positioning and orientation system (POS) was investigated. We utilized the inertial measurement unit (IMU) and the odometer as the core sensors of the POS. The initial attitude of the MLSS was obtained by using a static initial alignment method. Considering that there is no global navigation satellite system (GNSS) signal in a subway, the forward and backward dead reckoning (DR) algorithm was used to calculate the positions and attitudes of the MLSS from any starting point in two directions. While the MLSS passed by the control points distributed on both sides of the track, the local coordinates of the control points were transmitted to the center of the MLSS by using the ranging information of the laser scanner. Then, a four-parameter transformation method was used to correct the error of the POS and transform the 3-D state information of the MLSS from a navigation coordinate system (NCS) to a local coordinate system (LCS). This method can completely eliminate a MLSS’s dependence on GNSS signals, and the obtained positioning and attitude information can be used for point cloud data fusion to directly obtain the coordinates in the LCS. In a tunnel of the Beijing–Zhangjiakou high-speed railway, when the distance interval of the control points used for correction was 120 m, the accuracy of the 3-D coordinates of the point clouds was 8 mm, and the experiment also showed that it takes less than 4 h to complete all the inspection work for a 5–6 km long tunnel. Further, the results from the inspection work of Wuhan subway lines showed that when the distance intervals of the control points used for correction were 60 m, 120 m, 240 m, and 480 m, the accuracies of the 3-D coordinates of the point clouds in the local coordinate system were 4 mm, 6 mm, 7 mm, and 8 mm, respectively.https://www.mdpi.com/1424-8220/20/3/645gnss-deniedmobile laser scanner systemcloud pointsdead reckoninglocal coordinate system |
| spellingShingle | Qian Wang Chao Tang Cuijun Dong Qingzhou Mao Fei Tang Jianping Chen Haiqian Hou Yonggang Xiong Absolute Positioning and Orientation of MLSS in a Subway Tunnel Based on Sparse Point-Assisted DR Sensors gnss-denied mobile laser scanner system cloud points dead reckoning local coordinate system |
| title | Absolute Positioning and Orientation of MLSS in a Subway Tunnel Based on Sparse Point-Assisted DR |
| title_full | Absolute Positioning and Orientation of MLSS in a Subway Tunnel Based on Sparse Point-Assisted DR |
| title_fullStr | Absolute Positioning and Orientation of MLSS in a Subway Tunnel Based on Sparse Point-Assisted DR |
| title_full_unstemmed | Absolute Positioning and Orientation of MLSS in a Subway Tunnel Based on Sparse Point-Assisted DR |
| title_short | Absolute Positioning and Orientation of MLSS in a Subway Tunnel Based on Sparse Point-Assisted DR |
| title_sort | absolute positioning and orientation of mlss in a subway tunnel based on sparse point assisted dr |
| topic | gnss-denied mobile laser scanner system cloud points dead reckoning local coordinate system |
| url | https://www.mdpi.com/1424-8220/20/3/645 |
| work_keys_str_mv | AT qianwang absolutepositioningandorientationofmlssinasubwaytunnelbasedonsparsepointassisteddr AT chaotang absolutepositioningandorientationofmlssinasubwaytunnelbasedonsparsepointassisteddr AT cuijundong absolutepositioningandorientationofmlssinasubwaytunnelbasedonsparsepointassisteddr AT qingzhoumao absolutepositioningandorientationofmlssinasubwaytunnelbasedonsparsepointassisteddr AT feitang absolutepositioningandorientationofmlssinasubwaytunnelbasedonsparsepointassisteddr AT jianpingchen absolutepositioningandorientationofmlssinasubwaytunnelbasedonsparsepointassisteddr AT haiqianhou absolutepositioningandorientationofmlssinasubwaytunnelbasedonsparsepointassisteddr AT yonggangxiong absolutepositioningandorientationofmlssinasubwaytunnelbasedonsparsepointassisteddr |