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Movable measurement system outer parameter calibration method based on horizontal control

A technology of a mobile measurement system and a calibration method, applied in the field of external parameter calibration of a mobile measurement system

Active Publication Date: 2017-03-29
SHANDONG UNIV OF SCI & TECH
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Problems solved by technology

[0010] The purpose of the present invention is to propose a method for calibrating the external parameters of the mobile measurement system based on the combination of plane control and constraints, so as to solve the error factors caused by the correlation of self-checking and calibration parameters in the prior art and improve the calibration accuracy

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  • Movable measurement system outer parameter calibration method based on horizontal control
  • Movable measurement system outer parameter calibration method based on horizontal control
  • Movable measurement system outer parameter calibration method based on horizontal control

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Embodiment Construction

[0095] Below in conjunction with specific embodiment the present invention is described in further detail:

[0096] A method for calibrating external parameters of a mobile measurement system based on the combination of plane control and constraints includes the following steps:

[0097] a Coordinate transformation in the mobile measurement system

[0098] The geometric model of the positioning of the mobile measurement system is derived on the basis of transformations of different coordinate systems. The coordinate transformation order of positioning is laser scanner coordinate system→inertial platform coordinate system→local horizontal coordinate system→WGS-84 coordinate system.

[0099] The final form of the laser point in the WGS-84 coordinate system after a series of coordinate transformations is:

[0100]

[0101] in, is the rotation matrix from the laser scanner coordinate system to the inertial platform coordinate system, is the rotation matrix from the inerti...

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Abstract

The invention discloses a movable measurement system outer parameter calibration method based on horizontal control and constraint combination. The method is based on a Gauss-Helmert adjustment model, a plane equation of a known plane parameter is adopted as a control condition, a plane with an unknown plane parameter is adopted as a constraint condition, and in the process of constantly increasing known control planes and unknown constraint planes, a needed normal equation is constructed and inferred, and the final unknown parameter is obtained. The whole check process has the high efficiency characteristic of the self-check technology, correlation among the parameters in the self-check process is limited, check quality is improved, and wide use prospects are achieved.

Description

technical field [0001] The invention relates to a method for calibrating external parameters of a mobile measurement system based on the combination of plane control and constraints. Background technique [0002] The mobile measurement system integrates various sensors such as POS system and laser scanner. When the system is working, the position and attitude information of the carrier platform is obtained through the POS system, and a series of coordinate transformations are used to obtain the scanning point under the WGS-84 coordinate system. 3D coordinates. However, since the center of the laser scanner and the center of the POS system do not coincide, it is necessary to calculate the corresponding offset. At the same time, because the axis of the laser scanner and the POS system itself cannot be completely coincident, it is also necessary to calculate the line of sight error. , this process is called the external parameter calibration of the mobile measurement system. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 石波宋世柱崔强陈焕剑马跃卢秀山阳凡林
Owner SHANDONG UNIV OF SCI & TECH
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