The invention discloses a
laser radar coordinate
conversion method based on a vehicle body coordinate
system, and the method comprises the specific steps: converting an instant
laser beam coordinate
system into a
laser scanning reference coordinate
system; solving the coordinates of a laser foot point relative to the laser
radar coordinate system according to an inclined angle between the instant laser beam coordinate system and the laser
radar coordinate system and a laser
flight distance; converting the
laser scanning reference coordinate system into an
inertia platform reference coordinate system; measuring an installation inclined angle between a laser radar and an
inertia navigation platform, and the displacements; solving the coordinates of the laser foot point relative to the
inertia platform reference coordinate system according to a rotation and translation formula; and converting the inertia platform reference coordinate system into a period start instant coordinate system. The method does not need to convert laser foot
point data into the WGS-84 coordinate system, converts the data into a vehicle carrier instant coordinate system at a starting moment of scanning, reduces the operation quantity and
data dependence, and also can maintain the relative coordinates of the point relative to a vehicle. The method does not depend on
GPS data, and especially avoids interpolation or prediction errors caused by GPS failures.