Calibration method and calibration device for hyperspectral laser radar system used in deep sea

Abstract

The present disclosure provides a correction method and correction device for a hyperspectral laser radar system used in the deep sea. The correction method includes constructing a distance correction equation based on the distance observation value variable between the radar and the target and the distance true value variable between the radar and the target, and solving the addition constant and the multiplication constant in the distance correction equation through multiple different distance observation value variables and distance true value variables to obtain the target distance correction equation. The correction method also includes constructing a radiation correction equation based on the distance true value variable, the echo light intensity variable detected by the radar, and the radar's emission light intensity variable, and solving the first gain coefficient, the second gain coefficient, the two-way attenuation coefficient and the offset coefficient to obtain the target radiation correction equation. The radar is corrected by the target distance correction equation and the radiation correction equation. The correction device includes a bracket and a plurality of targets, each of which is configured to move between a first position and a second position to calibrate the radar as a calibration device.

Description

Technical Field

[0001] The present disclosure relates to a calibration technology for a hyperspectral laser radar system for deep sea, and more specifically, to a calibration method and a calibration device for a hyperspectral laser radar system for deep sea. Background Art

[0002] As a new detection and information acquisition system in the field of optoelectronic information acquisition and lidar detection, hyperspectral lidar combines the advantages of lidar detection and hyperspectral detection imaging, and has the characteristics of fully active detection. The acquisition of target spectral information is not affected by ambient lighting conditions, and the spectrum can be detected in low-light or dark environments. The application of hyperspectral lidar in deep-sea detection can obtain multi-dimensional data with both seabed ranging information and spectral feature information, and can be applied to the integrated quantitative detection and analysis of the full waveform attributes, spatial attributes and spectral attributes of seabed targets. With the help of deep-sea detection platforms, applied research such as deep-sea topography and landform exploration and information acquisition, resource exploration, etc. is carried out.

[0003] In order to invert high-precision multidimensional data containing spatial and spectral information from the raw data of deep-sea exploration obtained by hyperspectral lidar, it is necessary to calibrate its radiation characteristics, geometric characteristics and other characteristic parameters. Due to the influence of factors such as the absorption, scattering and attenuation of lasers in various bands by seawater, the complexity and diversity of seabed targets, and the complex influence of various physical and biochemical compositions of water bodies on the underwater light field transmission effect of hyperspectral lidar, the precise correction of the radiation / geometric characteristics of hyperspectral lidar puts forward higher requirements for the high-precision acquisition of seawater optical parameters.

[0004] There is an urgent need to design a correction method and correction device for a hyperspectral lidar system for deep sea, so as to cooperate with the hyperspectral lidar system for deep sea exploration as a cooperative goal, so as to calibrate the hyperspectral lidar system for deep sea, which is conducive to obtaining more accurate seawater parameters through the hyperspectral lidar system for deep sea. Summary of the invention

[0005] In order to solve at least one of the above-mentioned and other technical problems in the prior art, the present disclosure provides a correction method and a correction device for a hyperspectral lidar system for deep sea, which are suitable for correcting the distance and reflectivity of the hyperspectral lidar system for deep sea to improve the accuracy of the hyperspectral lidar system for deep sea.

[0006] One aspect of an embodiment of the present disclosure provides a correction method for a hyperspectral lidar system for deep sea, comprising: constructing a distance correction equation based on a distance observation value variable between a radar and a target and a distance true value variable between the radar and the target; obtaining distance observation values ​​between the radar and a plurality of targets located at different positions, and solving an additive constant and a multiplicative constant in the distance correction equation based on the plurality of distance observation values ​​and a distance true value corresponding to each of the distance observation values; and substituting the additive constant and the multiplicative constant into the distance correction equation to obtain a target distance correction equation, so as to realize distance correction of the hyperspectral lidar system.

[0007] In an illustrative embodiment, the distance correction equation is constructed based on the observed value variable of the distance between the radar and the target and the true value variable of the distance between the radar and the target, including:

[0008]

[0009] In formula 1, is represented by the true value variable of the distance between the radar and the target, D is represented by the observed value variable of the distance between the radar and the target, K0 is represented by the additive constant, and K1 is represented by the multiplicative constant.

[0010] In an illustrative embodiment, the method of obtaining distance observation variables between a radar and a plurality of targets at different distances, and solving the additive constant and the multiplicative constant in the distance correction equation according to the plurality of distance observation variables and the distance true value variables corresponding to each of the distance observation variables, includes: setting a plurality of distance true value variables of the targets at different distances from the radar; measuring the distance observation variables between the radar and each of the targets; constructing a first set of equations including correction coefficients according to a plurality of groups of the distance true value variables and the distance observation variables; solving the residual vector matrix of the correction coefficients in the first set of equations; and solving the additive constant and the multiplicative constant by least squares fitting based on the residual vector matrix, a plurality of groups of the distance true value variables and the distance observation variables.

[0011] In an illustrative embodiment, it also includes: constructing a radiation correction equation based on the distance true value variable, the echo light intensity variable detected by the radar, and the emission light intensity variable of the radar; based on the emission light intensity variable of the radar, obtaining echo light intensity variables corresponding to multiple different distance true value variables, and solving the radiation correction equation based on multiple groups of emission light intensity variables, the distance true value variables, and the echo light intensity variables, including a first gain coefficient based on the emission light intensity variable, a second gain coefficient based on the echo light intensity variable, a two-way attenuation coefficient based on the radar, and an offset coefficient based on the radar; and substituting the first gain coefficient, the second gain coefficient, the two-way attenuation coefficient, and the offset coefficient into the radiation correction equation to obtain a target radiation correction equation to achieve radiation correction of the hyperspectral lidar system.

[0012] In an illustrative embodiment, the radiation correction equation is constructed based on the distance true value variable, the echo light intensity variable detected by the radar, and the emission light intensity variable of the radar, including:

[0013]

[0014] In formula 2, It is characterized by the true value variable of the distance between the radar and the target, I(λ) is characterized by the echo light intensity variable, I0(λ) is characterized by the emission light intensity variable, ρ(λ) is characterized by the ground reflectivity, α(λ) is characterized by the two-way attenuation coefficient, A is characterized by the offset coefficient, k1 is characterized by the first gain coefficient, k2 is characterized by the second gain coefficient, and λ is characterized by the wavelength of the radar.

[0015] In an illustrative embodiment, the method of obtaining echo light intensity variables corresponding to a plurality of different distance true value variables based on the emission light intensity variable of the radar and solving the radiation correction equation based on a plurality of groups of the emission light intensity variables, the distance true value variables and the echo light intensity variables, including: setting the emission light intensity variable of the radar, irradiating a plurality of targets with different distance true value variables based on the same emission light intensity variable, and detecting the echo light intensity variable corresponding to each distance true value variable by the radar; constructing a second set of equations based on a plurality of groups of distance true value variables, the emission light intensity variables and the echo light intensity variables; and solving the first gain coefficient, the second gain coefficient, the two-way attenuation coefficient and the radar offset coefficient in the second set of equations.

[0016] Another aspect of an embodiment of the present disclosure also provides a correction device for a hyperspectral lidar system suitable for the correction method, comprising: a bracket suitable for being installed on a radar of a hyperspectral lidar system and being configured to extend in a direction parallel to a radiation direction of the radar; and a plurality of targets installed on the bracket at intervals, each of the targets being configured to move between a first position for blocking the radiation of the radar and a second position for being misaligned with the radiation direction of the radar; wherein the distance between each of the targets and the radar defines a distance true value variable.

[0017] In an exemplary embodiment, at least a portion of the target is pivotally mounted on the bracket.

[0018] In an illustrative embodiment, a driving mechanism is further included, wherein the driving mechanism is connected to at least a portion of the target and is suitable for driving at least a portion of the target to swing between the first position and the second position around a pivot connected to the bracket.

[0019] In an illustrative embodiment, a slide groove is provided in the bracket, and an extension direction of the slide groove is parallel to the radiation direction of the radar; each target is slidably installed in the slide groove, which is suitable for adjusting the distance between the target and the radar.

[0020] According to the present disclosure, a calibration method and a calibration device for a hyperspectral laser radar system for deep sea are provided. The bracket and multiple targets in the calibration device are suitable for use as a calibration device for calibrating the radar, so that the deep sea hyperspectral laser radar system can obtain multiple distance true value variables and distance observation value variables by adjusting the movement of different targets between the first position and the second position. The calibration method is suitable for calibrating the distance and reflectivity of the deep sea hyperspectral laser radar system to improve the accuracy of the deep sea hyperspectral laser radar system. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a flow chart of a calibration method for a hyperspectral laser radar system for deep sea according to an illustrative embodiment of the present disclosure;

[0022] Figure 2 is a flow chart of a calibration method for a hyperspectral laser radar system for deep sea according to another exemplary embodiment of the present disclosure;

[0023] Figure 3 is a stereoscopic diagram of a calibration device for a deep-sea hyperspectral laser radar system according to an illustrative embodiment of the present disclosure; and

[0024] Figure 4 yes Figure 3The illustrated exemplary embodiment is a diagram showing a portion of a target in a second position state.

[0025] In the above drawings, the meanings of the reference numerals are as follows:

[0026] 1. Calibration device;

[0027] 11. Bracket;

[0028] 111. Chute;

[0029] 12. Target;

[0030] 121, protrusion;

[0031] 13. Support poles; and

[0032] 2. Radar. DETAILED DESCRIPTION

[0033] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0034] The terms used herein are only for describing specific embodiments and are not intended to limit the present invention. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0035] All terms used herein, including technical and scientific terms, have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification, and should not be interpreted in an idealized or overly rigid manner.

[0036] When using expressions such as "at least one of A, B, and C, etc.", it should generally be interpreted as the meaning of the expression generally understood by those skilled in the art. For example, "a system having at least one of A, B, and C" should include but not be limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc. When using expressions such as "at least one of A, B, or C, etc.", it should generally be interpreted as the meaning of the expression generally understood by those skilled in the art. For example, "a system having at least one of A, B, or C" should include but not be limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.

[0037] Figure 1The figure is a flow chart of a calibration method for a hyperspectral lidar system used in the deep sea according to an illustrative embodiment of the present disclosure.

[0038] The present invention provides a calibration method for a hyperspectral laser radar system used in deep sea, such as Figure 1 As shown, it includes S100, constructing a distance correction equation according to a distance observation value variable between the radar and the target and a distance true value variable between the radar and the target; S110, obtaining distance observation values ​​between the radar and multiple targets located at different positions, and solving an additive constant and a multiplicative constant in the distance correction equation according to the multiple distance observation values ​​and the distance true value corresponding to each distance observation value; S130, substituting the additive constant and the multiplicative constant into the distance correction equation to obtain a target distance correction equation, so as to realize distance correction of the hyperspectral lidar system.

[0039] According to the embodiments of the present disclosure, Figure 1 As shown, the distance correction equation is constructed based on the distance observation variable between the radar and the target and the distance true value variable between the radar and the target, including:

[0040]

[0041] In formula 1, It is represented as the true value variable of the distance between the radar and the target, D is represented as the observed value variable of the distance between the radar and the target, K0 is represented as the additive constant, and K1 is represented as the multiplicative constant.

[0042] According to the embodiments of the present disclosure, Figure 1 As shown, S110, obtaining distance observation value variables between the radar and multiple targets at different distances, and solving the additive constant and the multiplicative constant in the distance correction equation according to the multiple distance observation value variables and the distance true value variable corresponding to each distance observation value variable, including:

[0043] S111, setting distance true value variables of multiple targets at different distances from the radar;

[0044] S112, measuring the distance observation value variable between the radar and each target;

[0045] S113, constructing a first set of equations including correction coefficients according to multiple sets of distance true value variables and distance observation value variables;

[0046] S114, solving the residual vector matrix of the correction coefficients in the first set of equations; and

[0047] S115, based on the residual vector matrix, multiple groups of distance true value variables and distance observation value variables, the least squares fitting is used to solve the additive constant and the multiplicative constant.

[0048] In an illustrative embodiment, S111 , set distance true value variables of multiple targets at different distances from the radar, including but not limited to four targets at different distances from the radar.

[0049] Specifically, four targets are set at reference positions with known distances from the radar, and the positions of the four targets relative to the radar are used as distance truth variables, including and

[0050] Further, S112, measuring the distance observation value variables between the radar and each target, including: measuring the four targets respectively by the radar to obtain four distance observation value variables corresponding to the four distance true value variables, including D1, D2, D3 and D4.

[0051] Furthermore, S113, constructing a first set of equations including correction coefficients based on multiple sets of distance true value variables and distance observation value variables, including: taking a distance true value variable and a distance observation value variable corresponding to the distance true value variable as a group, constructing a first set of equations based on four sets of distance true value variables and distance observation value variables, as shown in the following formula 3:

[0052]

[0053] In formula 3, It is represented as the true value variable of the distance between the radar and the four targets, D1~D4 are represented as the distance observation value variables corresponding to the four true value variables of the distance, v1~v4 are represented as the correction coefficients corresponding to the four true value variables of the distance, K0 is represented as the additive constant, and K1 is represented as the multiplicative constant.

[0054] Further, S114, solving the residual vector matrix of the correction coefficients in the first set of equations includes:

[0055] Based on the difference between multiple sets of distance true value variables and distance observation value variables, an error equation group is constructed, as shown in the following equations 4 and 5:

[0056]

[0057] In formula 4, l i It is represented as the difference between the true distance variable and the observed distance variable in the same group, i represents the i-th group, Represented as the i-th distance truth variable, D i Characterized as the i-th and distance observation variables;

[0058]

[0059] In formula 5, v1~v4 are represented as correction coefficients corresponding to the four distance true value variables, K0 is represented as an additive constant, K1 is represented as a multiplicative constant, D1~D4 are represented as distance observation value variables corresponding to the four distance true value variables, l1~l4 are represented as the difference between the distance true value variables corresponding to the four distance true value variables and the distance observation value variables;

[0060] The least squares adjustment is solved by the indirect adjustment formula. According to the conditional formula V = AX-L, the error equation can be listed as shown in the following formula 6:

[0061] (A T PA)X=A T PL Formula 6

[0062] In formula 6, P represents the unit weight matrix of the distance observation variable,

[0063]

[0064]

[0065]

[0066] The expression of the solution of the distance correction equation is listed as follows:

[0067]

[0068] Then, substitute the X matrix into the error equation (Equation 5) to obtain the residual vector matrix

[0069] In Formulas 7 to 10, D1~D4 represent the distance observation value variables corresponding to the four distance true value variables, K0 represents the additive constant, K1 represents the multiplicative constant, l1~l4 represent the difference between the distance true value variables corresponding to the four distance true value variables and the distance observation value variables, and v1~v4 represent the correction coefficients corresponding to the four distance true value variables.

[0070] Such an implementation is suitable for calibrating the distance of a deep-sea hyperspectral lidar system. The calibrated radar system, during the actual detection process, substitutes the actual distance observation value variable between the detected target object and the radar into the target distance correction equation to obtain the target distance value corrected by the additive constant and the multiplicative constant, so as to improve the distance measurement accuracy of the deep-sea hyperspectral lidar system.

[0071] Figure 2 The figure is a flow chart of a calibration method for a hyperspectral laser radar system used in the deep sea according to another exemplary embodiment of the present disclosure.

[0072] According to the embodiments of the present disclosure, Figure 2As shown, the correction method for the hyperspectral laser radar system for deep sea also includes S200, constructing a radiation correction equation based on the distance true value variable, the echo light intensity variable detected by the radar and the radar's emission light intensity variable; S210, based on the radar's emission light intensity variable, obtaining the echo light intensity variable corresponding to a plurality of different distance true value variables, solving the radiation correction equation based on a first gain coefficient based on the emission light intensity variable, a second gain coefficient based on the echo light intensity variable, a radar-based two-way attenuation coefficient and a radar-based offset coefficient according to a plurality of groups of emission light intensity variables, distance true value variables and echo light intensity variables; S220, substituting the first gain coefficient, the second gain coefficient, the two-way attenuation coefficient and the offset coefficient into the radiation correction equation to obtain a target radiation correction equation to achieve radiation correction of the hyperspectral laser radar system.

[0073] According to the embodiments of the present disclosure, Figure 2 As shown, S200, a radiation correction equation is constructed based on the distance true value variable, the echo light intensity variable detected by the radar, and the radar emission light intensity variable, including:

[0074]

[0075] In formula 2, It is represented by the true value variable of the distance between the radar and the target, I(λ) is represented by the echo light intensity variable, I0(λ) is represented by the emission light intensity variable, ρ(λ) is represented by the ground reflectivity, α(λ) is represented by the two-way attenuation coefficient, A is represented by the offset coefficient, k1 is represented by the first gain coefficient, k2 is represented by the second gain coefficient, and λ is represented by the wavelength of the radar.

[0076] According to the embodiments of the present disclosure, Figure 2 As shown, S210, based on the radar's emission light intensity variable, the echo light intensity variable corresponding to a plurality of different distance true value variables is obtained, and according to the plurality of groups of emission light intensity variables, the distance true value variables and the echo light intensity variable, the first gain coefficient based on the emission light intensity variable, the second gain coefficient based on the echo light intensity variable, the radar's two-way attenuation coefficient and the radar's offset coefficient in the radiation correction equation are solved, including S211, setting the radar's emission light intensity variable, and irradiating a plurality of targets with different distance true value variables based on the same emission light intensity variable, and detecting the echo light intensity variable corresponding to each distance true value variable through the radar; S212, constructing a second set of equations based on the plurality of groups of distance true value variables, the emission light intensity variable and the echo light intensity variable; S213, solving the first gain coefficient, the second gain coefficient, the two-way attenuation coefficient and the radar's offset coefficient in the second set of equations.

[0077] In an illustrative embodiment, multiple distance truth variables of targets at different distances from the radar are set, including but not limited to four targets at different distances from the radar.

[0078] Specifically, four targets are set at reference positions with known distances from the radar, and the positions of the four targets relative to the radar are used as distance truth variables, including and

[0079] Further, S211, setting the emission light intensity variable of the radar, and irradiating multiple targets with different distance true value variables based on the same emission light intensity variable, and detecting the echo light intensity variable corresponding to each distance true value variable by the radar, including: setting the emission light intensity variable of the radar I0(λ), and irradiating four targets respectively based on the same emission light intensity variable I0(λ), and detecting the echo light intensity variable corresponding to each distance true value variable by the radar. The corresponding echo intensity variables are I1(λ), ​​I2(λ), I3(λ) and I4(λ).

[0080] Furthermore, S212, constructing a second set of equations based on multiple sets of distance true value variables, emission light intensity variables and echo light intensity variables, including: taking a distance true value variable and an echo light intensity variable corresponding to the distance true value variable as a group, constructing a second set of equations based on four sets of distance true value variables and echo light intensity variables, see the following formula 11:

[0081]

[0082] In formula 11, is represented by the true value variable of the distance between the radar and the four targets, I1(λ)~I4(λ) are represented by the echo light intensity variables corresponding to the four true value variables of the distance, I0(λ) is represented by the emission light intensity variable, ρ0(λ) is represented by the reflectivity of the ground object, α(λ) is represented by the two-way attenuation coefficient, A is represented by the offset coefficient, k1 is represented by the first gain coefficient, k2 is represented by the second gain coefficient, and λ is represented by the wavelength of the radar.

[0083] Further, S213, solving the first gain coefficient, the second gain coefficient, the two-way attenuation coefficient and the radar offset coefficient in the second set of equations includes:

[0084] For a single wavelength λ, the two-way attenuation coefficient (α(λ)), the offset coefficient (A), the first gain coefficient (k1) and the second gain coefficient (k2) can be solved through four sets of emission intensity variables, distance true value variables, ground reflectivity and measured echo intensity variables.

[0085] For hyperspectral lidar, there are n bands. The 4n equations corresponding to the n second equations can be solved by the least squares method to obtain the corresponding two-way attenuation coefficient (α(λ)), offset coefficient (A), first gain coefficient (k1) and second gain coefficient (k2).

[0086] In such an implementation, it is suitable for correcting the radiation of a deep-sea hyperspectral laser radar system. After the correction, the radar system is substituted into Formula 2 based on the solved two-way attenuation coefficient, offset coefficient, first gain coefficient and second gain coefficient to obtain a target radiation correction equation. The target ground object reflectivity is obtained by the target radiation correction equation to improve the accuracy of the ground object reflectivity of the deep-sea hyperspectral laser radar system.

[0087] Figure 3 It is a stereoscopic diagram of a calibration device for a deep-sea hyperspectral laser system according to an illustrative embodiment of the present disclosure. Figure 4 yes Figure 3 The illustrated exemplary embodiment is a diagram showing a portion of a target in a second position state.

[0088] The present disclosure provides a calibration device 1 suitable for calibrating a deep-sea hyperspectral laser radar 2 system, such as Figure 3 As shown, it includes a bracket 11 and a plurality of targets 12. The bracket 11 is suitable for being mounted on the radar 2 of the hyperspectral laser radar 2 system, and is configured to extend in a direction parallel to the radiation direction of the radar 2. The plurality of targets 12 are installed on the bracket 11 at intervals, and each target 12 is configured to move between a first position that blocks the radiation of the radar 2 and a second position that is misaligned with the radiation direction of the radar 2. The distance between each target and the radar 2 defines a distance true value variable.

[0089] According to the embodiments of the present disclosure, Figure 3 and Figure 4 As shown, at least a portion of the target is pivotably mounted on the bracket 11 .

[0090] According to the embodiments of the present disclosure, Figure 3 and Figure 4 As shown, the calibration device 1 further comprises a driving mechanism, which is connected to at least a portion of the target and is adapted to drive at least a portion of the target to swing around a pivot connected to the bracket 11 between a first position and a second position.

[0091] In an illustrative embodiment, the bracket 11 includes but is not limited to being made of steel material.

[0092] In detail, the bracket 11 includes, but is not limited to, a truss structure configured in a rectangular shape.

[0093] In an exemplary embodiment, one end of the bracket 11 (such as Figure 3 A connection portion suitable for connecting to the radar 2 is installed at the upper end shown.

[0094] In detail, the connection portion includes but is not limited to a flange structure.

[0095] In an illustrative embodiment, targets 12 include, but are not limited to, four.

[0096] In detail, one of the targets 12 is mounted on the other end of the bracket 11 away from the connecting portion (such as Figure 3 lower end shown).

[0097] Furthermore, the other three targets 12 are arranged between the above targets 12 and 2.

[0098] Furthermore, the four targets 12 are evenly spaced, and the distance between two adjacent targets 12 is substantially the same.

[0099] In an illustrative embodiment, the target 12 includes, but is not limited to, a standard reflectivity target plate.

[0100] In detail, each standard reflectivity target plate is constructed into a rectangular structure.

[0101] Furthermore, the reflectivity of the target plate includes but is not limited to being set to any value between 50% and 70%.

[0102] In an exemplary embodiment, each target 12 includes a target plate and an end portion (such as Figure 3 The protrusion 121 of the left end shown.

[0103] In detail, the target plate and the protrusion 121 are pivotally matched.

[0104] Further, the protrusion 121 is mounted on the bracket 11 so that the target plate can be at a first position orthogonal to the bracket 11 (e.g. Figure 3 ), and a second position folded toward the bracket 11 (as Figure 4 shown).

[0105] Furthermore, the end of the target plate facing away from the protrusion 121 (eg Figure 3 The right end shown) is connected to the driving mechanism.

[0106] In an illustrative embodiment, the driving mechanism includes a support rod 13 and a driving portion (not shown) adapted to drive the support rod 13 to rotate around the pivot of the protrusion 121 .

[0107] In detail, one axial end of the support rod 13 is connected to the end of the target plate facing away from the protrusion 121 (such as Figure 3 The right end shown) of one side surface (as shown Figure 3 The lower surface shown is connected.

[0108] Furthermore, the driving unit includes but is not limited to a mechanism with a pulling effect such as a motor.

[0109] In such an embodiment, the driving mechanism can drive the target 12 to flip relative to the bracket 11 through the support rod 13, so that multiple targets 12 are installed on the same bracket 11, and the radar 2 is radiated on different targets 12 by adjusting the positions of different targets 12 and the bracket 11, so as to define different distance true value variables. Such a correction mechanism is small in size and simple in structure, and is suitable for being arranged in the same observation environment as the radar 2.

[0110] According to the embodiments of the present disclosure, Figure 3 and Figure 4 As shown, a slide slot 111 is provided in the bracket 11, and the extension direction of the slide slot 111 is parallel to the radiation direction of the radar 2. Each target is slidably installed in the slide slot 111, which is suitable for adjusting the distance between the target and the radar 2.

[0111] In an illustrative embodiment, a through sliding groove 111 is disposed in the middle of the bracket 11 .

[0112] In detail, both sides of the protrusion 121 of the target 12 are slidably engaged in the slide groove 111 .

[0113] Furthermore, a locking mechanism (not shown in the figure) is provided, which is suitable for locking the position of the target 12 relative to the radar 2 so that the target 12 is maintained at a corresponding position relative to the radar 2.

[0114] It should be noted here that the slide groove 111, the protrusion 121 and the locking mechanism are not the key points of protection of the present disclosure, and any mechanism that can be used for relative sliding and locking in the art can be selected and applied, and no further elaboration will be given.

[0115] In such an implementation, the distance between the target and the radar 2 and between adjacent targets can be adjusted, thereby forming different distance true value variables, which is conducive to expanding the use scenarios of the correction device 1 to enhance the adaptability of the correction device 1.

[0116] It will be appreciated by those skilled in the art that the features described in the various embodiments and / or claims of the present invention may be combined and / or coupled in several ways, even if such combinations and / or couplings are not explicitly described in the present invention. In particular, the features described in the various embodiments and / or claims of the present invention may be combined and / or coupled in several ways without departing from the spirit and teachings of the present invention. All such combinations and / or couplings fall within the scope of the present invention.

[0117] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A calibration method for a hyperspectral laser radar system used in deep sea, characterized in that: include: Constructing a distance correction equation based on an observed value variable of the distance between the radar and the target and a true value variable of the distance between the radar and the target; Obtaining distance observation value variables between the radar and a plurality of targets at different positions of the tail, and solving the additive constant and the multiplicative constant in the distance correction equation according to the plurality of distance observation value variables and the distance true value variable corresponding to each of the distance observation value variables; and Substituting the additive constant and the multiplicative constant into the distance correction equation to obtain a target distance correction equation to achieve distance correction of the hyperspectral laser radar system; Constructing a radiation correction equation according to the distance true value variable, the echo light intensity variable detected by the radar, and the emission light intensity variable of the radar; Based on the emission light intensity variable of the radar, the echo light intensity variables corresponding to the multiple different distance true value variables are obtained, and according to the multiple groups of the emission light intensity variables, the distance true value variables and the echo light intensity variables, the first gain coefficient based on the emission light intensity variable, the second gain coefficient based on the echo light intensity variable, the two-way attenuation coefficient based on the radar and the offset coefficient based on the radar in the radiation correction equation are solved; as well as Substituting the first gain coefficient, the second gain coefficient, the two-way attenuation coefficient and the offset coefficient into the radiation correction equation to obtain a target radiation correction equation to achieve radiation correction of the hyperspectral laser radar system; The distance correction equation is constructed based on the observed value variable of the distance between the radar and the target and the true value variable of the distance between the radar and the target, including: Formula 1 In formula 1, is characterized as a true value variable of the distance between the radar and the target, Characterized as a distance observation variable between the radar and the target, Characterized as an additive constant, Characterized as a multiplication constant; The step of obtaining distance observation value variables between the radar and a plurality of targets at different distances, and solving the additive constant and the multiplicative constant in the distance correction equation according to the plurality of distance observation value variables and the distance true value variable corresponding to each of the distance observation value variables, comprises: Setting a plurality of distance truth value variables of the target at different distances from the radar; Measuring a distance observation value variable between the radar and each of the targets; Constructing a first set of equations including correction coefficients according to a plurality of sets of the true distance variables and the observed distance variables; solving the residual vector matrix of the correction coefficients in the first set of equations; and Based on the residual vector matrix, multiple groups of the distance true value variables and the distance observation value variables, the additive constant and the multiplicative constant are solved by least squares fitting.

2. The calibration method according to claim 1, characterized in that: The radiation correction equation is constructed according to the distance true value variable, the echo light intensity variable detected by the radar and the emission light intensity variable of the radar, including: Formula 2 In formula 2, is characterized as a true value variable of the distance between the radar and the target, Characterized as echo intensity variable, Characterized as the emission intensity variable, Reflectivity of the ground, Characterized as the two-way attenuation coefficient, Characterized as the offset coefficient, Gain factor, Characterized by the wavelength of the radar.

3. The calibration method according to claim 2, characterized in that: The method of obtaining echo light intensity variables corresponding to a plurality of different distance true value variables based on the emission light intensity variable of the radar, and solving the radiation correction equation according to a plurality of groups of the emission light intensity variables, the distance true value variables and the echo light intensity variables includes: a first gain coefficient based on the emission light intensity variable, a second gain coefficient based on the echo light intensity variable, a two-way attenuation coefficient based on the radar and a deviation coefficient based on the radar. Setting the emission light intensity variable of the radar, irradiating the targets of a plurality of different distance true value variables based on the same emission light intensity variable, and detecting the echo light intensity variable corresponding to each distance true value variable by the radar; Constructing a second set of equations based on multiple sets of the distance true value variables, the emission light intensity variables, and the echo light intensity variables; and The first gain coefficient, the second gain coefficient, the two-way attenuation coefficient, and the offset coefficient of the radar in the second set of equations are solved.

4. A calibration device for a hyperspectral laser radar system applicable to the calibration method described in any one of claims 1 to 3, characterized in that: include: A bracket (11) adapted to be mounted on a radar (2) of a hyperspectral laser radar (2) system and configured to extend in a direction parallel to a radiation direction of the radar (2); as well as A plurality of targets (12) are installed on the bracket (11) at intervals, and each of the targets (12) is configured to move between a first position blocking the radiation of the radar (2) and a second position misaligned with the radiation direction of the radar (2); The distance between each target and the radar (2) defines a distance true value variable.

5. The calibration device according to claim 4, characterized in that: At least a portion of the target is pivotably mounted on the bracket (11).

6. The calibration device according to claim 5, characterized in that: It also includes a driving mechanism, which is connected to at least a part of the target and is suitable for driving at least a part of the target to swing between the first position and the second position around a pivot connected to the bracket (11).

7. The calibration device according to claim 6, characterized in that: A slide groove (111) is provided in the bracket (11), and an extending direction of the slide groove (111) is parallel to a radiation direction of the radar (2); Each target is slidably mounted in the slide groove (111), and is suitable for adjusting the distance between the target and the radar (2).

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