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國(guó)產(chǎn)螺旋式掃描激光雷達(dá)系統(tǒng)自檢校方法研究

楊書娟 邵永社 張珂殊

楊書娟, 邵永社, 張珂殊. 國(guó)產(chǎn)螺旋式掃描激光雷達(dá)系統(tǒng)自檢校方法研究[J]. 電子與信息學(xué)報(bào), 2018, 40(5): 1144-1150. doi: 10.11999/JEIT170723
引用本文: 楊書娟, 邵永社, 張珂殊. 國(guó)產(chǎn)螺旋式掃描激光雷達(dá)系統(tǒng)自檢校方法研究[J]. 電子與信息學(xué)報(bào), 2018, 40(5): 1144-1150. doi: 10.11999/JEIT170723
YANG Shujuan, SHAO Yongshe, ZHANG Keshu. Research on Self-calibration Method of Domestic Spiral Scanning Laser Radar System[J]. Journal of Electronics & Information Technology, 2018, 40(5): 1144-1150. doi: 10.11999/JEIT170723
Citation: YANG Shujuan, SHAO Yongshe, ZHANG Keshu. Research on Self-calibration Method of Domestic Spiral Scanning Laser Radar System[J]. Journal of Electronics & Information Technology, 2018, 40(5): 1144-1150. doi: 10.11999/JEIT170723

國(guó)產(chǎn)螺旋式掃描激光雷達(dá)系統(tǒng)自檢校方法研究

doi: 10.11999/JEIT170723
基金項(xiàng)目: 

國(guó)家重點(diǎn)研發(fā)計(jì)劃(2016YFB0101101)

Research on Self-calibration Method of Domestic Spiral Scanning Laser Radar System

Funds: 

The National Major Research and Development Program (2016YFB0101101)

  • 摘要: 論文提出一種對(duì)螺旋式掃描機(jī)載激光雷達(dá)系統(tǒng)進(jìn)行安置角自檢校的新算法。首先推導(dǎo)了螺旋式掃描激光雷達(dá)點(diǎn)云定位的數(shù)學(xué)模型;然后提取了激光雷達(dá)點(diǎn)云數(shù)據(jù)重疊區(qū)的面特征,并構(gòu)建了基于面特征的激光雷達(dá)檢校模型;最后,仿真分析了安置角誤差對(duì)往返航帶前后向掃描數(shù)據(jù)的影響,并利用同名面特征,基于區(qū)域網(wǎng)平差方法同時(shí)估計(jì)了平面參數(shù)和安置角參數(shù)。實(shí)驗(yàn)結(jié)果表明,該方法實(shí)現(xiàn)了激光雷達(dá)安置角的自檢校,且絕對(duì)精度滿足生產(chǎn)數(shù)據(jù)要求。
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出版歷程
  • 收稿日期:  2017-07-19
  • 修回日期:  2017-12-21
  • 刊出日期:  2018-05-19

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