Laser radar external parameter calibration method based on total station
A technology of laser radar and calibration method, which is used in instruments, complex mathematical operations, radio wave measurement systems, etc., and can solve the problems of inconsistent laser radar coordinate system and vehicle body coordinate system.
Pending Publication Date: 2020-12-11
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology
[0005] The technical problem to be solved by the present invention is to provide a laser radar external parameter calibration method based on a total station to solve the problem of inconsistency between the laser radar coordinate system and the vehicle body coordinate system during the installation process
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[0060] Embodiments of the invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.
[0061] The present invention adopts the following technical solutions for solving the problems of the technologies described above:
[0062] A laser radar external parameter calibration method based on a total station, the flow chart is as follows figure 1 shown, including the following steps:
[0063] Step 1, put the total station, car body and reference objects such as figure 2 As shown in the arrangement, the total station scans the car body to determine the conversion relationship between the car body coordinate system and the total station coordinate system;
[0064] Use the total station to measure the center of the car body, and obtain the coordinates of the c...
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The invention discloses a laser radar external parameter calibration method based on a total station. The method comprises the following steps: (1), scanning a vehicle body by a total station, and determining a conversion relationship between a vehicle body coordinate system and a total station coordinate system; (2), scanning a reference object by the total station, determining an expression of the reference object in a coordinate system of the total station, and further solving an equation expression of the reference object in a coordinate system of the vehicle body; (3), scanning the coordinate of a laser radar center point under the coordinate system of the total station by using the total station, and converting the coordinate into the coordinate system of the vehicle body according to the result of the step (1); (4), scanning the reference object by the laser radar, and determining an equation expression of the reference object under a laser radar coordinate system; and (5), solving a conversion relationship between the vehicle body coordinate system and the laser radar coordinate system according to equation expressions of the reference object in the vehicle body coordinatesystem and the laser radar coordinate system. The laser radar external parameter calibration method has the beneficial effect that the laser radar coordinate system and the vehicle body coordinate system can be unified under the assistance of the total station.
Description
technical field [0001] The invention relates to a laser radar external parameter calibration method based on a total station, and belongs to the technical field of robot autonomous navigation. Background technique [0002] Two-dimensional lidar does not depend on external lighting conditions. It is an active detection sensor and has high-precision ranging information. It is a commonly used navigation sensor for mobile robots. The total station is a high-tech measuring instrument integrating light, machinery and electricity. It completes the establishment of the coordinate system by completing the set base station in advance, and solves its coordinates by measuring the coordinates and angles of the prism in the coordinate system. . [0003] In the actual installation process, the lidar coordinate system and the car body coordinate system do not coincide, so it is necessary to adopt a suitable method to integrate the lidar coordinate system and the car body coordinate system....
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IPC IPC(8): G01S7/497G06F17/11G06F17/15
CPCG01S7/497G06F17/11G06F17/15
Inventor 袁诚吕品雍成优赖际舟季博文方玮
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS