Research Of Seamless Indoor And Outdoor Navigation Based On3D Laser Scanning Technology

With the development of science and technology, the large buildings were built,in order to satisfy with the people’s needs, such as the underground car parks,supermarkets, libraries, airports, etc. With these complex indoor environments, peopleon the indoor positioning and navigation technology more urgent needs. for people tosetting the relevant location information or instructions to arrive the destination.However, GPS and other navigation signal are blocked by the buildings, accuratepositioning can’t be completed. So the relevant indoor positioning System come intobeing, such as Infrared positioning technology, Ultrasonic positioning, RadioFrequency Identification, Ultra-wideband technology, Wireless Local Area Networks,Computer Vision Positioning technology.Infrared positioning technology is one of the techniques for indoor positioningand navigation, Infrared positioning is to the receiving room and positioning byrelated induction infrared ray sensor decorated indoors, the light can’t penetrate thebarrier, and infrared radiation can only transmission signal by line-of-sightpropagation, the transmission distance is shortened so it can’t be precise navigation.Ultrasonic Ranging reflective ranging method is mainly used to determine the targetlocation through triangulation algorithms, the structure is simple and with highpositioning accuracy, but the ultrasound susceptible to multipath propagation effectsand with high cost. RFID technology is a non-contact identification and location datathrough the exchange of two-way communication technology. It is located with themethod of radio signals, its navigation centimeter level accuracy can be achieved, butit’s difficult to establish the theoretical propagation models, as well as the user’ssecurity with the international standardization. Ultra-wideband technology to transmitdata by sending and receiving narrow pulses data, the positioning accuracy is better.Wireless local area networks used in large, complex environments positioningnavigation, through the reasonable setting related network node, receiving andsending signals. In addition to the positioning and navigation technology, there are some technologies are still in the primary research phase, such as computer vision andother positioning technology.This paper combines the3D laser scanning technology, research on indoorpositioning and navigation technology.3D laser scanning technology to collectthousands of spatial information in a second, solves the problem of low efficiency ofspatial information acquisition in traditional measurement system,3D laser scanningtechnology in a relatively short period of time, to obtain the target spatial informationis complete, the sampling rate is up to5000bit/sec, such a high recovery rate, in thefield of Surveying and mapping is a major breakthrough. Before the acquisition ofspatial information, the control point, station, completed the target geographicinformation acquisition.This paper using the GPS receive collected outdoor control points, GPS receiverusing RTK (Real Time Kinematic) measurement. This measurement method is able toprovide spatial information site location in real time, and the precision can reachmillimeter level. Using the Total Station, the prototype system with the method of“intersection” or “known viewpoint”, collecting the information of indoor base station.Using Total Station get the information of indoor point, to prepare for establish athree-dimensional laser scanner station. Through the use of GPS receivers and totalstation control point information gathering, indoor and outdoor spatial coordinatenavigation system can be established. Finally, after the spatial coordinate systemestablished, establishing indoor and outdoor3D laser scanner site reasonably,collecting real-time data. In the processing of information acquisition, the data aretransferred to the system in real time, data preprocessing, and completing thebackground of navigation, realization of indoor and outdoor seamless navigation. Inthe future, if the navigation background is same, the prototype system needn’t toacquisition the cloud data, and can be directly used for positioning and navigationThe three-dimensional spatial data obtained by3D scanning technology is huge,after preprocessing the cloud data, in the process of registration, the classical ICPalgorithm with the long iterative time; this paper presents a fast registration method ofregistering spatial cloud data (PCA-ICP). This method using principal componentanalysis (PCA) to find the optimal space registration transformation parameters,avoiding the ICP algorithm for finding the optimal solution in a local optimum, andimprove the registration speed. Using PCA-ICP algorithm registering spatial pointcloud data for a particular building indoor and outdoor, the experimental results show that, this method is iterative time shorter than the classical ICP algorithm; it is afeasible method of point cloud registration.