Method for ship-borne integrated measurement system precision calibration in water pool

A measurement system, ship-borne technology, applied in the direction of radio wave measurement system, measurement device, electromagnetic wave re-radiation, etc.

Active Publication Date: 2016-03-23
SHANDONG UNIV OF SCI & TECH
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  • Application Information

AI Technical Summary

Problems solved by technology

There are few reports on the overall calibration method of the integrated measurement system at home and abroad. Therefore, it is necessary to study and implement the overall calibration method of the "shipborne water surface and underwater integrated measurement system" to ensure the integrated measurement accuracy.

Method used

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  • Method for ship-borne integrated measurement system precision calibration in water pool
  • Method for ship-borne integrated measurement system precision calibration in water pool
  • Method for ship-borne integrated measurement system precision calibration in water pool

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Effect test

Embodiment Construction

[0050] At first introduce the required theoretical basis of the present invention:

[0051] 1. Plane fitting theory

[0052] Plane formula:

[0053] ax+by+cz-d=0

[0054] The solution process is as follows:

[0055] 1) n scanning points to be fitted (x i ,y i ,z i ), the fitted plane equation is:

[0056] ax+by+cz=d

[0057] The conditions are:

[0058] a 2 +b 2 +c 2 = 1

[0059] Then the distance from any data point to the plane:

[0060] d i =|ax i +by i +cz i -d|

[0061] 2) To get the best fit plane, make Get the minimum value, the condition is a 2 +b 2 +c 2 =1, get the formula

[0062] f = Σ i = 1 n d i 2 - λ ( a 2 + b 2 + c ...

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Abstract

The invention discloses a method for ship-borne integrated measurement system precision calibration in a water pool, and belongs to the technical field of marine surveying and mapping. The method is implemented on the basis of acquiring the overall coarse calibration parameters of a ship-borne multi-sensor measurement system and the precision calibration parameters of a laser scanner. On the basis that precision-calibrated laser scanner measured data can be used as accurate spatial point cloud data of a target object, multi-beam measured data and laser scanner measured data are compared. By taking the offset and rotation angle of a multi-beam depth finder coordinate system relative to an inertial navigation system coordinate system obtained through coarse calibration as initial values, the accurate corrected values of the offset and rotation angle of the multi-beam depth finder coordinate system relative to the inertial navigation system coordinate system are obtained. Thus, overall measurement system calibration is realized. According to the invention, the laser scanner and the multi-beam depth finder are integrated, the submarine topography and coastal water terrain data can be acquired at the same time, and overall precision calibration of the ship-borne multi-sensor measurement system in a water pool is realized.

Description

technical field [0001] The invention relates to the technical field of marine surveying and mapping, in particular to a precision calibration method for a ship-borne integrated measurement system in a water pool. Background technique [0002] The laser scanning system can quickly obtain a large amount of point cloud data above the water surface, and the multi-beam depth sounder can quickly obtain large-area seabed topographic information on the seabed. The integrated laser scanner and multi-beam depth sounder are "ship-borne underwater and underwater integrated measurement systems" It can simultaneously acquire submarine topography and near-shore water topographic data, and solve the topographic measurement problems of near-shore coastal zones and tidal flats. The overall calibration of the "ship-borne integrated water and underwater measurement system" is an important aspect to ensure the measurement accuracy. There are few reports on the overall calibration method of the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/89G01S7/497
CPCG01S7/497G01S17/89
Inventor 石波刘云鹏马跃张从跃阳凡林景冬卢秀山刘振
Owner SHANDONG UNIV OF SCI & TECH
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