A calibration method of laser two-dimensional ranging sensor

Abstract

A calibration method for a two-dimensional laser ranging sensor, comprising the following steps: insofar as an electric motor is driving an encoding disk to rotate at a uniform speed, performing angle calibration with respect to each tooth of the encoding disk, performing uniform punching between adjacent two teeth, calculating in real-time to acquire a point corresponding to any calibration angle between adjacent two teeth; acquiring measurement points formed at a uniform speed by a two-dimensional laser ranging sensor in a predetermined angle, and acquiring measurements of the distance between each measurement point and the two-dimensional laser ranging sensor, combining this series of measurements per a Kalman filter algorithm and a weighted average filter algorithm to reduce noise; respectively analyzing and quantifying per a statistic fixed-point system error calibration model and a static panoramic system error calibration model the effects that the measuring distance and the rotational speed of the electric motor have in terms of error, and correcting a system error incurred by a discrepancy between the measuring distance and the rotational speed of the electric motor. The method is applicable in the calibration of a two-dimensional laser ranging sensor.

Description

technical field [0001] The invention relates to a calibration method for a laser two-dimensional distance measuring sensor. Background technique [0002] The calibration of the laser two-dimensional ranging sensor can be divided into two parts: distance calibration and angle calibration. [0003] In terms of distance calibration, distance calibration can be divided into two parts: system error calibration and random error calibration. [0004] For the system error, there are mainly two calibration methods at present. The first method is to directly obtain the corresponding relationship between the current real value and the output value through experiments at intervals of a small distance, and form a calibration table. This method has high precision, but it is only suitable for small ranges, and the calibration takes a long time, resulting in a large amount of manpower and time resource consumption, and the calibration efficiency is low, and it is not suitable for large-sc...

AI Technical Summary

Problems solved by technology

This method relies on the motor itself, requires the motor itself to have high performance, ignores the accuracy of the code disc, and cannot eliminate the impact of the error of the code disc

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