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External parameter calibration method of mobile measurement system based on the combination of plane control and constraints

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

Active Publication Date: 2019-05-10
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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  • External parameter calibration method of mobile measurement system based on the combination of plane control and constraints
  • External parameter calibration method of mobile measurement system based on the combination of plane control and constraints
  • External parameter calibration method of mobile measurement system based on the combination of plane control and constraints

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Embodiment Construction

[0096] Below in conjunction with specific embodiment the present invention is described in further detail:

[0097] A method for calibrating external parameters of a mobile measurement system based on the combination of plane control and constraints includes the following steps:

[0098] a Coordinate transformation in the mobile measurement system

[0099] 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.

[0100] The final form of the laser point in the WGS-84 coordinate system after a series of coordinate transformations is:

[0101]

[0102] 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 method for calibrating external parameters of a mobile measurement system based on the combination of plane control and constraint. This method is based on the Gauss-Helmert adjustment model, using the plane equation with known plane parameters as the control condition, and the plane with unknown plane parameters as the constraint condition, in the process of continuously increasing the known control plane and unknown constraint plane, construct and derive The required normal equations are solved for the final unknown parameters. The whole calibration process not only has the high-efficiency characteristics of self-calibration technology, but also limits the correlation between parameters in the process of self-calibration, improves the quality of calibration, and has broad application prospects.

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. ...

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Application Information

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Patent Type & Authority Patents(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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