Orchard terrain modeling method and system based on multi-sensor information fusion

The invention discloses an orchard terrain modeling method and system based on multi-sensor information fusion, the system comprises an acquisition end for data acquisition and upper computer modeling, the acquisition end is composed of a main control chip, a sensor module, an interaction module, a cache module and a result storage module, and acquisition of orchard terrain sample point data is realized; after acquiring a sampling result of the acquisition end, the upper computer fuses multi-sensor information through a Kalman filtering algorithm, identifies and removes outlier data by using a single-class support vector machine algorithm, and interpolates sampling points in combination with a Lagrange interpolation method, thereby constructing a three-dimensional terrain stereoscopic model of a sampled orchard. 本发明公开了一种基于多传感器信息融合的果园地形建模方法及系统，包括采集端数据采集和上位机建模，其中，采集端由主控芯片、传感器模块、交互模块、缓存模块、结果存储模块组成，实现对果园地形样点数据的采集；上位机在获取采集端的采样结果后，通过卡尔曼滤波算法对多传感器信息进行融合，利用单类支持向量机算法识别并移除离群数据，结合拉格朗日插值法对样点插值，从而构建被采样果园的三维地形立体模型。