Point cloud error correction method based on self-made ground-based laser radar verticality error
A laser radar and error correction technology, applied in radio wave measurement systems, instruments, etc., can solve theoretical analysis, system error model parameters have no physical meaning and other problems
Active Publication Date: 2017-10-24
BEIHANG UNIV
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This type of method obtains a system error correction model for all three-dimensional coordinate measurement systems. Its disadvantage is that the parameters of the system error model have no physical meaning, and it does not conduct theoretical analysis on the scanning mode of the system itself from the perspective of error sources. Therefore, it relies on large sample data to achieve Accurate correction; the above-mentioned patents include "a correction method for long-distance scanning laser radar measurement error" disclosed in Chinese patent 201710014687.8
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[0063] The specific implementation manner of the patent of the present invention will be further described in detail below in conjunction with the accompanying drawings. Schematic diagram of the point cloud error correction method based on the self-made ground-based lidar plumbness error. figure 2 As shown, the ideal coordinate system O-XYZ of the self-made laser radar three-dimensional imaging system (713) is established first, because the actual azimuth axis Z' axis (206) in the self-made system has plumb errors (α, θ) (301, 302), under the coordinate system of the self-made LiDAR 3D imaging system (713), the influence of the plumb error (α, θ) (301, 302) on the angle measurement error of the self-made LiDAR 3D imaging system (713) is theoretically deduced, and it is obtained Angle measurement error model of self-made LiDAR 3D imaging system (713). According to the principle of trigonometric function approximation, the angle measurement error model of the self-made LiDAR 3...
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The invention discloses a point cloud error correction method based on self-made ground-based laser radar verticality error, the method mainly aims at a scanning mode of self-made laser radar system 45 degrees mirror rotating cooperated with a tripod head, a self-made laser radar system point cloud error correction model is established through calculating influence from pitch axis and azimuth axis verticality error to self-made system angle measuring error, a high precision 3D scanner is adopted to solve verticality error for scanning point cloud coordinates as a true value, so that error correction from self-made laser radar system verticality error to target point cloud error is realized. The method mainly comprises following steps: 1) a model of self-made laser radar 3D imaging system angle measurement error caused by verticality error is established and simplified; 2) a self-made laser radar 3D imaging system point cloud error model is obtained; 3) the verticality error in the self-made laser radar 3D imaging system point cloud error model is solved, and the self-made laser radar system target point cloud is corrected according to the model.
Description
technical field [0001] The invention relates to the technical field of laser radar measurement, in particular to a point cloud error correction method based on self-made ground-based laser radar plumbness error Background technique [0002] Lidar measurement technology is a new active remote sensing technology that has developed rapidly in recent years. It generally uses non-contact measurement technology and has a wide range of applications in remote sensing, military detection, oceanographic mapping, and atmospheric exploration. Based on the traditional single-point measurement technology, the three-dimensional scanning measurement technology in LiDAR can quickly obtain high-resolution point cloud data on the surface of the target object through high-speed laser scanning. This technology has the advantages of simple data processing, rapidity, It has the advantages of initiative, strong anti-interference ability, high measurement accuracy and large range. However, the scan...
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IPC IPC(8): G01S7/497
CPCG01S7/497
Inventor 李小路徐立军李昀晔谢鑫浩
Owner BEIHANG UNIV