A Two-step Calibration Method for LiDAR Based on Calibration Field

Abstract

The invention discloses a laser radar two-step calibration method based on a calibration field. The method comprises steps of establishing a calibration field; carrying out calibration; preparing angle calibration; networking a theodolite; scanning a laser radar; measuring the theodolite; establishing an angle correction equation; calculating an angle correction coefficient; establishing a base line field; measuring the laser radar; measuring the theodolite; establishing a distance correction equation; and calculating a distance correction coefficient. According to the invention, rapid calibration of the laser radar is achieved without taking a precisely designed and processed calibration device as a calibration standard; a problem of too high requirements on a test place, the calibration field and the calibration device in the normal method is solved; through cooperation of a rotation bench, the whole test process is achieved, the test difficulty level is reduced and a difficulty in ensuring precision of full field-of-view angle correction in the normal method is solved; and through the test of the calibration field and the base line field step by step, effects of correcting separation distances in a calibration model are achieved and disadvantages in mutual coupling of distance parameters and angle parameters in the normal method are overcome.

Description

technical field [0001] The invention relates to a laser radar calibration method, which belongs to the technical field of imaging sensor calibration. Background technique [0002] Lidar is a new type of laser measurement sensor used for target acquisition, distance and angle measurement, position and attitude measurement, and three-dimensional reconstruction of space non-cooperative targets. In order to ensure the successful acquisition probability of lidar to non-cooperative targets, the sensor is required to have high angle measurement accuracy in the whole measurement range. Therefore, how to correct the angle measurement and ranging errors of the lidar with high precision, and determine the position and attitude of the lidar measurement system are the prerequisites for realizing high-precision measurement of the sensor, and it is also a problem to be solved in lidar calibration. [0003] In the prior art, conventional methods mostly use a flat plate with better flatness...

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Problems solved by technology

[0003] In the prior art, conventional methods mostly use flat plates with better flatness, and use planar features to constrain lidar calibration. On the one hand, the above methods have high design and processing requirements for the calibration device; on the other hand, although they can be , to correct the systematic error of lidar measurement, but due to the mutual coupling of distance measurement parameters and angle parameters during calibration, the angle calibration is affected by the distance measurement accuracy and it is difficult to guarantee the calibration accuracy

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