Extreme-low-altitude laser radar digital terrain mapping system and extreme-low-altitude laser radar digital terrain mapping method of small-sized unmanned helicopter

Abstract

The invention discloses an extreme-low-altitude laser radar digital terrain mapping system and an extreme-low-altitude laser radar digital terrain mapping method of a small-sized unmanned helicopter. The system is formed by an airborne system and a ground station system, wherein the airborne system is used for accurately collecting data of each sensor, carrying out synchronization processing on the data of the sensors and navigation control of the unmanned helicopter, and can realize data interaction with data of the ground station system through wireless receiving and dispatching equipment; the ground station system is used for receiving and processing data from an airborne laser radar hardware system or checking and processing a data file in an offline manner; the airborne system is formed by a coprocessor and a main processor; and the coprocessor is used for collecting gesture data and position data of the system or realizing the navigation control of the airborne system. According to the extreme-low-altitude laser radar digital terrain mapping system, a mode of matching the coprocessor with the main processor is utilized so that the requirements of the instantaneity and the stability of the navigation control of the small-sized unmanned helicopter are guaranteed, the system is flexible and the function of the airborne system is conveniently expanded; and the system has the advantages of low power consumption, low cost, high integration, high efficiency and the like.

Description

technical field [0001] The invention relates to the technical field of terrain surveying and mapping, in particular to an ultra-low-altitude digital terrain surveying and mapping system and method for a small unmanned helicopter that can realize full-automatic, non-contact and dynamic real-time. Background technique [0002] Airborne lidar technology is an emerging measurement technology that integrates high-precision dynamic DGPS technology, laser ranging technology, high-precision carrier attitude measurement technology and computer technology. The range information obtained by the laser rangefinder combined with the attitude information obtained by the attitude measurement module and the position information obtained by high-precision differential GPS can be solved to obtain accurate three-dimensional coordinates of objects and high-resolution digital terrain models. It provides a new type of remote sensing technology method for people to continuously and automatically ac...

AI Technical Summary

Problems solved by technology

At present, most of the airborne lidar systems in operation are large-scale airborne systems, which generally work at high altitudes. The equipment is large in size and heavy in weight, and is easily affected by airspace control and weather.

These devices cannot generate digital elevation data in real time, and cannot change the flight route on the spot according to the collected data. The operation efficiency is low, and it is easy to cause waste of manpower and material resources.

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