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

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

2.
(中國(guó)科學(xué)院電子學(xué)研究所北京 100190)

基金項(xiàng)目:

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

計(jì)量
- 文章訪問數(shù): 1294
- HTML全文瀏覽量: 182
- PDF下載量: 102
- 被引次數(shù): 0
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

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

2.
(Institute of Electronics, Chinese Academy of Sciences, Beijing 100190, China)

Funds:

The National Major Research and Development Program (2016YFB0101101)

摘要

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。
- 激光雷達(dá) /
- 螺旋式掃描 /
- 面特征 /
- 安置角 /
- 自檢校
Abstract: This paper presents a new algorithm for self-calibration of spiral scanning airborne laser radar system. Firstly, the mathematic model of the point cloud location of the spiral scanning laser radar is deduced. Then the surface features of the overlapping area of the laser radar point cloud data is extracted, and the feature of the laser radar calibration model is constructed. Finally, the influence of the placement angle error on the forward and backward scanning data is analyzed, The plane parameters and the placement angle are estimated based on the regional network adjustment method by using the same name surface feature. The experimental results show that this method realizes the self-calibration of the placement angle of spiral scanning airborne laser radar system, and the absolute accuracy satisfies requirement of the production data.
- Laser radar /
- Spiral scanning /
- Surface feature /
- Placement angle /
- Self-calibration

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