Multi-line laser radar calibration system and calibration method

Abstract

The invention relates to a multi-line laser radar calibration system and a calibration method. The system is characterized by comprising a horizontal levelling table, a switching frame, a reflecting target, a total station, a computer, a laser ranger and a GPS antenna; the horizontal levelling table is arranged on a support frame, a digital display level meter is configured to monitor and judge the levelling of the horizontal leveling table; the switching frame is a connecting structure connected with the laser radar in a vertical direction and a horizontal direction, and an inertia measurement unit IMU is arranged on the switching frame; the reflecting target is arranged at a relative location of the switching frame so as to form a region for constraining a laser beam; the total station is arranged between the switching frame and the reflecting target to form an elevation measurement structure; the computer is arranged on the support frame, an I / O port thereof is connected with a signal output end of the digital display level meter, the signal output end of the laser ranger, the signal output end of the total station and the signal output end of the GPS antenna, thereby forming anautomatic monitoring structure to monitor the laser reflectivity change and read and record inertia measurement unit IMU attitude angle. The system has the characteristics of being high in calibration efficiency, high in calibration precision, low in field requirement, and convenient to execute.

Description

technical field [0001] The invention relates to a multi-line laser radar calibration system and a calibration method. It is suitable for unmanned driving, drone surveying and mapping, inspection, etc. It belongs to the technical field of surveying and mapping. Background technique [0002] In many fields such as unmanned driving, unmanned aerial vehicle mapping, inspection, etc., multi-line lidar is a commonly used sensor device. Effectively obtain the azimuth and distance information of objects around the space, but in order to achieve accurate positioning of the target object, it is necessary to accurately calibrate the multi-line lidar, so as to improve the measurement accuracy of the radar and ensure the reliability of the lidar in actual work. [0003] In practical applications, the laser radar needs to be calibrated before it is used or leaves the factory. However, the existing traditional method is to place standard reflectors with certain characteristics at differe...

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Problems solved by technology

[0004] One of the purposes of the present invention is to provide a multi-line laser radar calibration system in order to solve the problems of low calibration efficiency, low calibration accuracy, high site requirements and difficult implementability in the existing laser radar

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