YANG Jisen,XIU Fu,ZHANG Jing,YUAN Junsong,ZHANG Xiaolong
Corrected Proof
摘要:Aiming at the problem that incremental planar two-dimensional (2-D) time-grating displacement sensors need to be zeroed when they are powered up, an absolute planar 2-D time-grating displacement sensor based on multi-frequency magnetic field coupling is designed, which adopts time-driven excitation signals of different frequencies to reduce the power consumption of the sensor circuit and at the same time make the decoupling of signals in the X and Y directions and the 2-D absolute position solving simpler and more reliable. Firstly, a mathematical model of magnetic field distribution of the excitation coil is established, and the relationship between the width of the excitation coil and the height of the coupled air gap is analyzed according to the characteristics of the spatial magnetic field distribution; based on the incremental 2-D time-grating displacement sensor structure of the differential structure, an absolute planar 2-D time-grating measurement model of the opposite poles reciprocal structure is established, and a new scheme for the 2-D absolute position solution based on the look-up table method is proposed, which avoids the influence of the measurement error on the solution result in the practical application; the feasibility of this solution is verified by electromagnetic field simulation, and the optimal installation gap of the sensor is determined to be 0.8 mm; finally, the sensor prototype is fabricated, and the 2-D precision experimental platform is constructed for performance testing. The experimental results show that the sensor prototype in the effective measuring range of 147 mm x 147 mm, the original measurement errors in the X and Y directions are ±20.4 μm and ±21.1 μm, respectively, and it has the advantages of no need to find the zero point on power-on, which realizes the all-in-one 2-D absolute displacement measurement and positioning.
关键词:multifrequency magnetic field;antipolar prime;absolute two-dimensional;time-grating displacement sensor
LI Tianliang,ZHU Yongwen,LI Jiajun,WANG Jun,MENG Wei,TAN Yuegang
Corrected Proof
摘要:Aiming at the issues of insufficient dexterity of traditional transnasal surgery in deep and narrow space, and lack of intraoperative guidance information, a flexible transnasal surgical robot with fiber-optic navigation of approach attitude is proposed. A flexible manipulator configuration has been designed with spherical hinge series and pin-slot configuration, achieving both dexterity and torsional disturbance resistance. The forward and inverse kinematics models of the surgical robot are established by combining geometric analysis and D-H parameter method. By embedding two distributed fiber-optic navigation sensors in each flexible manipulator at an interval of 90°, a data-driven posture in-situ calibration method proposed by binocular vision and extreme learning machine to avoid measurement errors caused by traditional offline calibration and the problem of error accumulation in obtaining its posture method based on differential geometry theory, and the high-precision self-perception of shape and position in the surgical robot is realized. The experimental results show that the ultimate bending angle of the flexible manipulator can reach 105 °, and the allowable load in the range of 80° is 0.9N; through optical fiber navigation, the maximum position prediction errors of the flexible manipulator end are 0.920 mm and 1.635 mm in free and obstacle environments, respectively. The effectiveness and feasibility of the transnasal flexible surgical robot with fiber-optic navigation are verified.
LIN Huilan,ZHAO Chunlei,HAO Zhicheng,LIU Shi,ZHU Ming,JIANG Xin,GAO Wen,ZHANG Junqiang
Corrected Proof
摘要:To enhance the performance of single-target tracking in complex scenarios such as target deformation, occlusion, similar interference, and field of view exceeding, a novel tracking algorithm for complex scenes is proposed. Based on the Staple algorithm, the issue of pixel weight assignment using the two-dimensional Gaussian function is studied, the color histogram statistics are optimized to enhance the distinguishability between the target and the background. An adaptive fusion mechanism for HOG features and color features based on the Peak Side Lobe Ratio (PSR) is introduced, and the fusion coefficients are reasonably selected to ensure that the combined features are more reliable. By analyzing the distance between the target region center and the center of the target in the previous frame, combined with the calculation of the maximum composite response, the best center position is determined to solve the problem of similar target interference. The target is judged to be lost or occluded using a composite response, HOG features, and the Average Peak-to-Correlation Energy (APCE), maintaining the position of the target frame and enabling timely re-tracking when the target reappears. A template update strategy that combines information from previous frames and the current frame is adopted to further improve tracking accuracy, and tests are conducted on videos involving deformation, occlusion, and field of view exceeding in the OTB100 dataset. The experimental results show that the improved algorithm has increased the overall and specific attribute (deformation, occlusion, out of view) success rates and the precision of the deformation attribute by 1.8%, 3.3%, 2%, and 9% respectively compared to the Staple algorithm; On the VOT16 dataset, the overlap degree of the improved algorithm in the overall and occlusion attributes has increased by 0.0222 and 0.0196 respectively compared to the Staple algorithm, meeting the target tracking needs in complex specific scenarios.
摘要:To overcome the differences in acquisition frequency, resolution, and viewing angle between laser and camera-based speed estimation tasks in camera-LiDAR surveillance systems, this paper proposes an image-priority approach integrated with 2D-3D views for multi-target continuous tracking and speed estimation. Initially, geometrically matched feature points are uniformly selected from the scene, and the external parameters are computed using the Direct Linear Transformation method for online calibration between the LiDAR and the camera. Subsequently, a vision-guided frustum-based spatial approach for combined 2D-3D target localization is introduced. By leveraging high-resolution ground points to compute area boundaries, the method preliminarily removes background points and then adaptively calculates clustering parameters in a 2D top-down view transformed from the frustum's 3D perspective. Then, the 2D densest voxel guides the selection of the 3D initial seed point to complete clustering and localization, effectively eliminating irrelevant points and addressing the issue of mixed-resolution point cloud target detection caused by varying viewing angles. Finally, based on Kalman filtering and considering vehicle motion states, the speed estimation process is modeled as observation equations using discrete synchronized frame point cloud localization results. The observation noise covariance matrix is estimated based on point cloud resolution, enabling continuous optimal estimation of discrete speed measurements to mitigate the effects of observation noise and asynchronous timing between the two devices. Experimental results conducted on common traffic scene image and point cloud datasets demonstrate that the proposed method achieves an average absolute error of 0.2764 m/s and a root mean square error of 0.3251 m/s, with a maximum detection range of 103.211 m, indicating high accuracy and practicality.
摘要:The overseas turret-type electro optical (EO) targeting pods have been subdivided into different generations, therefore, the main technical characteristics of typical third-generation pods have been introduced. Four different evaluation criteria for measuring their integration degree have been defined: the ratio of the aperture of the optical aperture to the diameter of the turret, the cube of the aperture of the optical aperture to the weight of the system, the cube of the diameter of the pod to the weight of the system, and the ratio of the weight of the payload to the weight of the system, so as to achieve the quantitative evaluation of the functional density or technological level of the EO targeting pods of similar performances at the macroscopic level. The development status of typical equipment is introduced, focusing on the corporations of typical products such as the American MTS-B pod, Turkish ASELFLIR350 pod and the subsequent ASELFLIR400/500, Canadian MX-15D pod, French EUROFLIR410 pod and German ARGOS II HDT, etc., and their respective technical styles, characteristics and core payloads are introduced. A forward design evaluation verifies the performance of MTS-B front telescope system and ASELFLIR350 turret's optical payload. Several assimilated technical features of modern EO targeting pods are summarized: the optical-mechanical architecture of multi-band common aperture catadiopatric main system + side-axis small aperture sub-systems is gaining consensus; the laser detection technology of multiple wavelengths is increasingly inclined to the direction of active optics; composite-axis control technology based on the combination of multi-axis, multi-frame platforms and fast steering mirrors (FSM) is gaining popularity; the enhancement of target detail areas is acquiring more attention, and multi-band image fusion information processing technology is becoming more and more important.
摘要:The exposure control of wafer motion imaging system significantly influences the imaging quality. Traditional exposure control algorithms based on image spatial domain evaluation are complex and ignore die feature differences, leading to uneven exposure. To address this issue, this paper proposes an exposure control method based on image partition frequency domain evaluation. The method employs a block-based dual-threshold segmentation algorithm for adaptive segmentation of image feature regions. By integrating the high-pass filter and Gaussian pyramid algorithm, it rapidly extracts high-frequency information within frequency domain. A region-weighted evaluation function is also designed to comprehensively assess uniform exposure effects. Additionally, to rapidly search for optimal exposure parameters, a decision tree-based search algorithm with variable step is proposed. Experimental results demonstrate that the proposed algorithm improves the image quality by 1.34% while reducing exposure adjustment time by 61.3 %, effectively ensuring rapid imaging quality during wafer motion imaging.
关键词:exposure control;Frequency domain analysis;Image evaluation function;Variable step search;Decision tree
摘要:MethodThe influence of the adding electric field with parallel direction of the axis of the fiber on the dispersion, effective mode field area, and non-linearity coefficient is simulated by using the finite element method (FEM), the evolution of optical pulse transmission in optical fiber is investigated, and the tunability of the axial electric field on the spectral width and coherence of the supercontinuum spectrum is analyzed.ResultThe results reveal that the spectral width and tunable range of the supercontinuum spectrum in the fiber with a filling factor of 0.6 is greater than that with other filling factors at the same pump. When injecting a pump pulse with a peak power of 5 kW, a pulse width of 100 fs, and a central wavelength of 3.5 μm into the fiber, the output supercontinuum spectral width reaches 2.2420 μm for an electric field strength of 40 × 108 V/m, an increase of 176.30 nm over that without the electric field. As the adding electric field causes the coherence factor of the supercontinuum to converge to 1 at longer wavelengths, it also contributes to the coherence of the supercontinuum.ConclusionMid-infrared supercontinuum light sources with continuously tunable spectral width can be obtained and have potential applications in fields such as sensing detection and biomedicine.ObjetiveIn order to make the spectral width of the mid-infrared supercontinuum spectrum continuously tunable, a chalcogenide photonic crystal fiber (PCF) with As2S3 matrix material and LiNbO3 crystal auxiliary rods, whose optical axis is running along the axial direction of the fiber, is proposed.
摘要:To realize the high-precision command tracking control of the piezoelectric platform, an adaptive fractional order sliding mode tracking control method is proposed in this paper to address the serious hysteresis problems. At first, the fractional order operator and adaptive law based on the Duhem model are introduced into the design of the sliding mode surface. It increases the degree of freedom variability of the sliding mode surface and achieves the adaptive adjustment of parameters. Next, an uncertainty and disturbance estimation technique is proposed to replace the traditional switching term of the sliding mode controller, which solves the chattering problem of the sliding mode controller and improves its robustness. Finally, the experimental results of the command tracking control of the piezoelectric platform show that compared with traditional PID and sliding mode control method, the tracking error of the adaptive fractional order sliding mode controller has decreased by more than 80%, and the root mean square tracking error of the piezoelectric platform based on adaptive fractional order sliding mode controller is reduced to 0.41μm under the reference command signal at 50 Hz. Therefore, the adaptive fractional order sliding mode controller has more superior tracking performance.
关键词:Piezoelectric platform;Hysteresis nonlinear;Adaptive control;fractional order;sliding mode control
摘要:In order to achieve precise force control of collaborative robot, an in-situ integrated torque sensor is developed by using the deformation of the flexspline of the harmonic reducer.. Proposed a residual ripples compensation method based on Fourier series model to improve measurement accuracy. Firstly, the strain law at the bottom of the flexspline was analyzed, and the sensitive grid structure of the strain gauge was designed based on the principle of sinusoidal superposition; Then the Fourier series model between the remain ripples and the angle of the wave generator was established to compensate the residual ripple; Finally, a test platform is developed for loading test, the results show that the output errors of the self-made torque sensor and the standard torque sensor are 0.988% and 0.253% when the instantaneous excitation and step load are applied under the static state of the wave generator; Under the rotating state of the wave generator, three kinds of loads, i.e. step change, sinusoidal change and man-made collision in the process of sinusoidal change, are applied. The output errors between the self-made torque sensor and the standard torque sensor are 3.822%, 4.247% and 4.456%. The compensation method proposed in this paper can effectively reduce the interference of residual ripple on the sensor output, which is conducive to the realization of accurate measurement of joint torque.
摘要:This paper proposes a method to observe the celestial polarization pattern and the coordinate of zenith through Snell’s window, which consequently yields the navigation information of the carrier, i.e., yaw angle, roll angle, and pitch angle. A fish-eye lens and an imaging polarimeter are installed on the carrier to capture the sky and obtain the celestial polarization pattern. First, a pinhole imaging model is established to obtain both the internal and external parameter matrices of the camera and the distortion coefficients of the lens. A distortion correction is applied to the polarization pattern to obtain the solar meridian characteristic region. A Canny operator is used to detect the edge of the characteristic region, after which a Hough line detection algorithm is used to calculate the angle between the solar meridian and the carrier’s axis, yielding the Yaw angle. Second, the relationship between incidence angles and the error of polarization angle is abstracted as a function through experiments. Error compensation based on the function is performed to reduce the measurement error of the polarization angle caused by changes in the incident light polarization state of the fish-eye lens, hence improving the accuracy of measuring the angle between the solar meridian and the carrier axis. Third, the grayscale threshold detection algorithm is used to calculate the coordinates of the zenith in the image, and therefore the roll and pitch angles of the carrier. The accuracy of the algorithm is verified through experiments. Lastly, an experimental platform is constructed to simulate an underwater environment. Results show that the mean absolute error of the yaw angle calculated by this method is 0.5303°. Within the range of [-50°, 50°], the mean absolute error of the roll angle and pitch angle are 0.7544° and 0.6213°, respectively, which meets the accuracy requirements of underwater navigation.
摘要:In order to further miniaturize the head-worn displays (HWDs), a near-eye display system based on asymmetric fiber cantilever is built, and a pixel division rule is given. The influence factors of scanning trajectory, image reconstruction capability, display resolution, and display frame rate of the system are studied. The resonant frequencies in the orthogonal directions are designed for high definition and high frame rate, and the structural parameters of the asymmetric fiber cantilever are calculated. The display unit has the diameter of 2 mm and the length of 19 mm. The resolution at the resonant frequency is 160×120 pixels, the frame rate is 10 Hz, and the image reconstruction error rate is 0.002%. The achievable maximum resolution and maximum frame rate are 290×220 pixels and 95 Hz, respectively. A fiber-scanning near-eye display system is built, and a camera is used to record the experimental results of the display system. Results verify the display performance and future application potential of asymmetric fiber cantilevers in HWD.
摘要:To measure the ejected particle’s velocity is very important for rocket motor development design. Because of rocket motor flame’s intense light background radiation, the traditional filter device and moving object detection algorithm will be invalid. To solve these problems, this paper presents a novel quantum filter technology. According to the characteristics of quantum high signal-to-noise ratio and low background noise, taking the atomic filter as the core, the ultra-narrow band quantum filter technology is applied to the Particle Image Velocimetry (PIV), which makes up the quantum filter PIV system. Filter bandwidth from MHz to GHz. At the same time, based on the quantum filter PIV system, a new virtual particle image tracer algorithm based on image gray cross-correlation is proposed. This algorithm obtains trajectory of particle motion by tracking and marking, so as to characterize the particle motion in the flow field. The results show that the quantum filter technology had strong suppression of complex background interference, and the signal-to-noise ratio was improved by 30db compared with the traditional filter device, and the filtering effect was obvious. The algorithm had high accuracy, the particle velocity measurement error was less than 0.5m/s, and the calculation measurement accuracy was better than 0.06%. The relevant system had been already used in national research institutes.
关键词:Rocket motor;Ejected particle’s velocity;Quantum light filter;Tracer algorithm;signal-to-noise ratio;Precision of measurement
JIN Kai,DING Li-yun,GUO Hui-yong,CHEN Gang-chuan,HU Yong
Corrected Proof
摘要:In order to solve the reliability problem of grating temperature-sensitive coefficient (KB,T) calibration in the ultra-low temperature environment, the reference thermometer probe and fiber Bragg grating sensor were encapsulated in the self-designed non-contact liquid nitrogen cooling temperature measuring mold, and the calibration experiments were carried out in a wide range of ultra-low temperatures ranging from 93-293 K, and the thermal sensitivity coefficient of bare grid and thermal expansion coefficient of coating are used to verify the credibility of the experimental design. Experimental results indicate that the maximum initial temperature change rate of the reference thermometer is 1.8 K/min, which effectively reduces the temperature change rate of the temperature measuring mold and improves the temperature consistency between the reference thermometer and the labeled grating. The test results are in good agreement with the results of the comparable literature. The temperature sensitivity of bare gate decreases from 9.18 pm/K@293K to 2.19 pm/K@93K due to its low temperature nonlinearity, the thermal expansion coefficient of organic modified ceramic (ORMOCER) is 3.7×10-6 K-1 at room temperature. The temperature sensitivity coefficient of ORMOCER coating with one-side thickness of 50μm is 4.43 pm/K. At 93 K, KB,T = 7.17 pm/K, the temperature sensitivity coefficient and linearity of the coating grating are significantly improved.
摘要:Aiming at the reduction of recognition accuracy caused by background interference, target density and target heterogeneity in remote sensing image vehicle detection, a remote sensing image vehicle detection method combining superpixel and multi-modal perception network is proposed. Firstly, based on the region merging rules of hybrid superpixels, the superpixel bipartite graph fusion algorithm is used to fuse the superpixel segmentation results of the two modalities, which improves the accuracy of the superpixel segmentation results of different modal images. Secondly, MEANet (multi-modal edge aware network), a vehicle detection method of remote sensing images based on multi-modal edge aware network, is proposed. Opt-fpn module (Optimized Feature Pyramid Networks) is introduced to enhance the ability of the network to learn multi-scale target features. Finally, the two sets of edge features generated by the superpixel and multimodal fusion module were aggregated through the edge perception module, and then the accurate boundary of the vehicle target was generated. Experiments are carried out on the ISPRS Potsdam and ISPRS Vaihingen remote sensing image datasets, and the finalscores are 91.05% and 85.11%, respectively. The experimental results show that the method proposed in this paper has good detection accuracy and good application value in high-precision vehicle detection of multimodal remote sensing images.
摘要:In order to improve the radiometric calibration accuracy of the Hyper-spectral Infrared Atmospheric Sounder (HIRAS) onboard FY-3D, the phase correction module used in the data preprocessing of HIRAS is improved. Phase correction is one of the basic processing steps in the preprocessing process, which is used to determine the zero optical path difference position (ZPD) of the interferogram. ZPD is the center of the Fourier transform and also the premise of the Fourier Transform, which has an important influence on the inversion spectrum. However, the current phase correction method used in the business can only accurate ZPD to the integer sampling point. In this paper, based on the instrument phase method, the spectral phase of earth observation, black body observation and deep space observation is compared with each other, and the linear phase component is extracted, thus improving the accuracy of ZPD to the subsampling level. The comparison between HIRAS and JPSS-1/CrIS shows that the improved phase correction method reduces the mean deviation of the three bands by about 0.1K, 0.4K and 0.8K, and reduces the standard deviation of the three bands by about 0.06K, 0.2K and 1.5K, respectively. Meanwhile, the dependence of the deviation on the target temperature is also reduced. The improved phase correction method makes up for the shortcomings of the original phase correction module and effectively reduce the radiation uncertainty of HIRAS.
关键词:hyperspectral;phase correction;Zero optical path difference;phase of instrument
An Qichang,Wang Kun,Liu Xinyue,Wu Xiaoxia,Li Hongwen
Corrected Proof
摘要:In order to achieve high-quality integration of large aperture lens groups, a transmission wavefront detection system is urgently needed, which can achieve micron level accuracy detection on meter scale span. Here,To solve the problem of large aperture transmission wavefront quality detection, the relative tilt of components and the change of system wavefront introduced by the support structure are obtained by combining non narrowband interference with fringe tracking. Firstly, based on the optical fiber interconnection architecture, the sub aperture time-sharing multiplexing measurement system is designed. Secondly, the mapping relationship between the slope measurement and the final system wavefront is established, and the influence of the slope reconstruction process on the wavefront of different spatial frequencies is analyzed. Finally, the desktop experimental system was used to verify the detection principle. At the test wavelength of 1550nm, the interference sensing SNR was better than 15dB, the measurement range was better than 5 μ m, and the detection accuracy was better than 0.5 μ m. Based on the method proposed in this paper, the large aperture lens transmission wavefront can be detected in a large range, with high robustness and high accuracy, which is of great significance for the construction of large aperture large field of view telescopes in the future.
摘要:The particular properties of the point cloud structure lead to difficulties in interpreting the features learned from Deep Neural Networks(DNNs). A method is proposed to obtain the saliency maps for point cloud target recognition models. First, a number of free factors are randomly released in the point cloud space and input to the model. Then, based on the designed contribution evaluation index, the pooled features output by the backbone are made to deviate as much as possible from the pooled features output by the target point cloud recognition process by gradient descent and the factor positions are updated. The iterated factors do not participate in the recognition process and contribute "zero" to the prediction of the model. Moving the points in the target point cloud to the positions of these factors has exactly the same effect on the recognition result as dropping the points. The process of moving the points is differentiable, and finally the saliency maps can be obtained from the gradient information. We generate saliency maps for PointNet on ModelNet40 with the proposed method, which has a stronger theoretical basis and is applicable to more datasets than the method using point cloud center to generate saliency maps. The effect of shifting points to the no-contribution factor position is more similar to dropping points than shifting points to the center of point cloud. Dropping points by the saliency scores in this paper makes the model accuracy drop faster, and the overall accuracy (OA) of the model reduces from 90.4% to 81.1% with only 100 points dropped. Meanwhile, the saliency scores have good generality as also evaluated on DGCNN and PointMLP. The proposed method generates significance scores with higher precision and is applicable to most point cloud recognition models as is driven by the model without any assumptions. The results of its saliency analysis are instructive for the construction of target recognition networks and data augmentation.
NIU Xiaoqian,MIAO Pengfei,WANG Hanlin,WANG Xiaodong,CHEN Bo
Corrected Proof
摘要:In order to forecast and warn of space weather, the disturbances of solar-terrestrial need to be monitored. Extreme Ultraviolet (EUV) filters can remove unwanted radiation, and they are an important part of the Extreme Ultraviolet Imager. In order to optimize the transmission of EUV filters at 17.1nm, we chosen the material and thickness of EUV filters at 17.1nm based on the Lambert-Beer law by theoretical calculation and software simulation. First, the release layer and metal thin-film were deposited by thermal evaporation, and EUV filters with nickel-mesh supported were successfully manufactured. After testing, the transmission of the filter whose surface is smooth and flat without obvious pinholes is about 43.81% at 17.1nm. Next, in order to illustrate the effect of the oxide layer on the transmittance, the filter sample was measured by spectroscopic ellipsometry to obtain the thickness of the oxide layer at different placement times, and the roughness was measured to optimize and simulate the transmission of the filter. The thickness of the oxide layer and the roughness of the sample were fitted by IMD, and the layer thickness was adjusted to achieve the curve closest to the actual measured value. Experimental results indicate an excellent agreement between the measured and simulated values, and the absolute error of the transmittance of the EUV filter is only 1%. This study provides preparation methods and improvement ideas for EUV filters, and has important practical significance in space exploration.
摘要:The realization of the sensing function of the flexible bionic robot requires the sensor to be integrated and flexible, otherwise it is difficult to get good application effect due to the lack of compliance. In this paper, the author takes the flexible bionic finger as the application carrier to explore a flexible tactile force/strain sensing fiber based on liquid conductive metal, which can completely fit the carrier to measure the tactile force of finger tip and joint Angle. Specifically liquid conductive metal is injected into a prefabricated silicone hose of a certain length instead of conventional microfluidics, so as to form flexible sensing fibers that are tubular and can be arbitrarily deformed and arranged, thus realizing the detection of different deformation physical quantities (in this paper, its force and strain sensing properties are utilized). This method can greatly reduce the complexity of microfluidic channel process while ensuring the flexibility and functionality of the device. In the end, The experimental results show that the flexible sensing fiber based on liquid conductive metal can be embedded and fully fit the flexible finger structure, and realize the sense of tactile force and joint Angle change of the finger simultaneously and accurate tracking at a particular force/angle, demonstrating its role as a flexible sensing unit. It has great potential to be applied to more types of flexible or software application carriers.
关键词:tactile force perception;joint angle perception;flexible humanoid fingers;liquid conducting metal
摘要:In response to the difficulties of processing massive laser point cloud off-site real-time scanning and on-site absolute coordinate system alignment, a low-cost ground-based LiDAR measurement system is developed by combining BeiDou/GNSS positioning system and 5G communication technology. The measurement system is integrated by LiDAR, a high-precision motor, BeiDou/GNSS receiver module, and a 5G module. LiDAR collects point cloud information, the high-precision motor gets angle information, BeiDou/GNSS receiver module receives the time, and through a self-developed time synchronization module, time stamps with high-precision motor, and LiDAR gets the point cloud and angle file with time tag, and transmits in real-time through 5G communication technology. The terminal carries out the spatial and temporal alignment of multi-frame point clouds by linear interpolation algorithm through self-developed data pre-processing software, coarse alignment of multi-station laser point clouds based on BeiDou/GNSS coordinates outdoors, coarse alignment of multi-station point clouds by single-station feature points in an indoor environment without BeiDou/GNSS, and then fine alignment by proximity iteration algorithm to complete overall alignment, and visualization on self-developed real-time point cloud management and visualization system. The experiments show that the measurement system can achieve real-time off-site scanning and transmission at a transmission rate of 50Mbit/s using 5G communication technology. The error of the aligned point cloud is less than 3mm, which can provide digital infrastructure for real-time applications such as digital twin, monitoring of material and cultural heritage, analysis of construction and operation, and maintenance of large shaped buildings.