Self-correcting method for ground-based laser radar intensity data
A laser radar and self-calibration technology, applied in radio wave measurement systems, instruments, etc., can solve the problems of large influence of laser echo intensity and weakening of laser echo intensity.
Inactive Publication Date: 2019-09-24
BEIHANG UNIV
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The geometric characteristics of the target (the effect of distance and incident angle) have a great influence on the intensity of the laser echo; with the increase of the distance and incident angle, the intensity of the laser echo weakens
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[0037] The specific implementation manner of the patent of the present invention will be further described in detail below in conjunction with the accompanying drawings. The flowchart of a self-calibration method for ground-based lidar intensity data is shown in figure 1 As shown in Fig. 1, the laser radar system performs multi-station laser scanning on the standard diffuse reflector and the measured target, obtains the point cloud data of the measured target, and performs preprocessing operations such as filtering, denoising, and spatial registration on the multi-station cloud data ; Then, based on the lidar intensity data of the standard diffuse reflector and the lidar equation, a distance effect correction model is established, and the lidar intensity data is corrected using the model to eliminate the influence of the distance effect, and the distance effect corrected lidar is obtained Intensity data; again, based on the principle of laser radiation transmission and the phy...
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The invention discloses a self-correcting method for a ground-based laser radar intensity data. On the basis of a laser radiation transmission principle, a distance and incident angle effect correction model of laser radar intensity data is established and target surface roughness parameters are estimated one by one based on multi-station laser radar point cloud data, thereby realizing self-correction of the laser radar intensity data. The algorithm mainly includes the following three steps: step one, collecting multi-station cloud data of a standard diffuse reflection plate and a detected target and carrying out filtering and spatial registration, etc; step two, on the basis of the point cloud data of the standard diffuse reflection plate, establishing a distance effect correction model and correcting the intensity data by using the model; and step three, according to the multi-station cloud data and an established incident angle effect correction model, estimating the target surface roughness parameters by using a nonlinear parameter optimization method, substituting the estimated parameters into the incident angle effect correction model to eliminate the influence of the incident angle effect on the intensity data, thereby obtaining a corrected intensity data result.
Description
technical field [0001] The invention discloses a self-calibration method of ground-based laser radar intensity data. The method is based on the principle of laser radiation transmission, establishes a correction model of the distance and incident angle effect of laser radar intensity data, and corrects the target surface through multi-station laser radar point cloud data. Roughness parameters are estimated one by one, enabling self-correction of lidar intensity data. Background technique [0002] Lidar is an active remote sensing measurement technology, which can obtain high-precision, high-density three-dimensional point cloud data of the measured target area. At present, many scholars have carried out research on the data processing methods of 3D point cloud, such as point cloud filtering, target classification and target feature extraction based on geometric information. However, during the scanning process of lidar, not only the three-dimensional coordinate information ...
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Login to View More IPC IPC(8): G01S7/497
CPCG01S7/497
Inventor 徐立军徐腾李小路刘畅
Owner BEIHANG UNIV