Airborne laser radar system integration error calibration method based on overlapped air strip conjugate primitives

An airborne laser radar and system integration technology, applied in the field of data processing, can solve the problems of lack of integrated calibration of offset system and low accuracy of laser radar data measurement, and achieve the effect of improving accuracy and being easy to implement

Inactive Publication Date: 2021-05-28
HARBIN INST OF TECH
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to solve the existing airborne lidar system calibration method, which usually only pays attention to the calibration of the installation angle error, lacks the integrated calibration of the offset system error, and the general calibration method does not The calibration site has high requirements, which leads to the problem of low measurement accuracy of lidar data, and an integrated error calibration method for airborne lidar systems based on conjugate primitives of overlapping flight belts is proposed

Method used

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  • Airborne laser radar system integration error calibration method based on overlapped air strip conjugate primitives
  • Airborne laser radar system integration error calibration method based on overlapped air strip conjugate primitives
  • Airborne laser radar system integration error calibration method based on overlapped air strip conjugate primitives

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specific Embodiment approach 1

[0020] Specific implementation mode 1: In this implementation mode, the specific process of the integrated error checking method of the airborne lidar system based on the conjugate primitives of the overlapping flight belts is as follows:

[0021] Step 1: According to the airborne lidar acquisition principle, establish the mathematical model of the airborne lidar system;

[0022] Step 2: Based on the mathematical model of the airborne lidar system established in step 1, an integrated error model of the airborne lidar system is established;

[0023] Step 3: Establish the conjugate primitive between the reference point cloud and the template point cloud, and solve the optimal transformation relation between the overlapping flight belt point clouds;

[0024] Step 4: According to the relationship between the optimal change relation between the point clouds of overlapping flight belts and the system integration error model, the inverse solution is obtained to obtain the system inte...

specific Embodiment approach 2

[0025] Specific embodiment two: the difference between this embodiment and specific embodiment one is: in the said step 1, according to the airborne laser radar collection principle, establish the mathematical model of the airborne laser radar system; The specific process is:

[0026] According to the principle of lidar imaging, the mathematical model of the airborne lidar system is established;

[0027] For the laser beam collected instantaneously by the laser radar, the mathematical model of the airborne laser radar system is established, and the model is as follows:

[0028]

[0029] The coordinates of the laser point in the laser radar coordinate system are P L =(x L ,y L ,z L ) T , the coordinates of the laser point in the inertial platform reference coordinate system are P I =(x I ,y I ,z I ) T ;

[0030] R A It is the placement angle rotation matrix of the UAV lidar system, which is used to describe the relative space angle and rotation relationship of the...

specific Embodiment approach 3

[0036] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is: the arrangement angle rotation matrix R A The specific expression is as follows:

[0037]

[0038] Among them, R(ω), and R(κ) are yaw angle ω(Heading), pitch angle And the rotation matrix of the roll angle κ (Roll).

[0039] Other steps and parameters are the same as those in Embodiment 1 or Embodiment 2.

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Abstract

The invention relates to an airborne laser radar system integration error calibration method, and in particular, relates to an airborne laser radar system integration error calibration method based on overlapped air strip conjugate primitives. The objective of the invention is to solve the problem that an existing airborne laser radar system calibration method is low in laser radar data measurement precision. The airborne laser radar system integration error calibration method based on the overlapped air strip conjugate primitives comprises the specific processes: 1, establishing a mathematical model of an airborne laser radar system; 2, based on the mathematical model of the airborne laser radar system established in the step 1, establishing an integrated error model of the airborne laser radar system; 3, establishing the conjugate primitives between a reference point cloud and a template point cloud, and solving an optimal transformation relational expression between overlapped air strip point clouds; and 4, according to the correlation between the optimal change relational expression between the overlapped air strip point clouds and the system integration error model, carrying out inverse solution to obtain a system integration error calibration matrix. The method is applied to the technical field of data processing.

Description

technical field [0001] The invention belongs to the technical field of data processing, and relates to an integrated error checking method of an airborne laser radar system, in particular to an integrated error checking method of an airborne laser radar system based on conjugate primitives of overlapping flight belts. Background technique [0002] Lidar is a new type of measurement technology that has developed rapidly in the past ten years. It emits a single-band laser beam and obtains the three-dimensional coordinate information of the surface object according to the echo of the surface object, thereby generating a point cloud (Point Cloud) to realize the ground surface. Object information extraction and 3D scene reconstruction; due to its high angular resolution and strong anti-interference ability, it has been widely used in research fields such as remote sensing data detection, ground model restoration and reconstruction, and has great application prospects. [0003] Ai...

Claims

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Application Information

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IPC IPC(8): G01S7/497
CPCG01S7/497
Inventor 谷延锋王晨
Owner HARBIN INST OF TECH
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