Geometric correction method and device for placement error of unmanned aerial vehicle (UAV) radar

Abstract

The invention provides an unmanned aerial vehicle (UAV) radar placement error geometric correction method, which comprises the following steps: arranging a plurality of reflectors in a calibration field, and arranging reference points and check points outside the calibration field; obtaining coordinates of each reflection mark based on the reference point and the check point; an unmanned aerial vehicle carrying a laser radar is controlled to fly back and forth along a preset route to pass through the multiple reflectors, and attitude information and position information of the unmanned aerial vehicle are acquired; acquiring a slope distance and a beam splitting angle from the laser radar transmitting point to a ground reflecting point; constructing an error equation according to the coordinate of the reflection target, the slant distance, the beam splitting angle, the attitude information and the position information based on the position offset and rotation geometrical relationship of the laser radar and the integrated navigation system; solving the error equation to obtain the system error of the unmanned aerial vehicle radar placement angle; and carrying out geometric correction on the placement angle by utilizing the system error of the placement angle.

Description

technical field [0001] The invention relates to the technical field of laser radar, in particular to a method and device for geometric correction of the placement error of an unmanned aerial vehicle radar. Background technique [0002] Unmanned Aerial Vehicle Light Detection and Ranging is an active remote sensing technology that can quickly obtain three-dimensional spatial information of terrain surfaces. It integrates high-precision laser scanners, position and attitude measurement systems, power supply and distribution modules, and comprehensive control. Integrated with the storage module. Different from the traditional optical imaging mechanism, the acquisition of target object data by lidar can be free from images of light conditions. [0003] UAV-borne LiDAR is composed of multiple loads such as position and attitude measurement system and laser scanner. During system integration, it is theoretically necessary to ensure strict registration between multiple sensors. Ho...

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Problems solved by technology

[0004] In the process of realizing the concept of the present invention, the inventor found that the calibration accuracy of the unmanned aerial vehicle laser radar system by using manual calibration, air belt adjustment or establishing a system error model in the prior art is not high, and needs to be improved

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