CALIBRATION METHODS AND DEVICES FOR YAW ANGLE ON UNMANNED MINING TRUCK LASER RADAR

Abstract

A calibration method and apparatus for a yaw angle on an unmanned mining truck laser radar, relating to the field of yaw angle calibration engineering. The method comprises: first calibrating a first yaw angle on an unmanned mining truck laser radar; taking a preset travel trajectory, erecting a pole at a preset distance, parking the unmanned mining truck on the preset travel trajectory or within a preset range of the preset travel trajectory, and transforming the preset travel trajectory and the pole into a global coordinate system through the positioning system and the unmanned mining truck laser radar; driving the unmanned mining truck to approach the pole from a long distance to a short distance along the travel trajectory, and each time the truck travels a preset length, calculating several groups of measured values ​​of the distance from the unmanned mining truck to the pole and the perpendicular distance from the center point of the pole to the preset travel trajectory;determining the yaw angle offset value on the unmanned mining truck laser radar relative to the truck body; and calibrating the second yaw angle on the unmanned mining truck laser radar based on the first yaw angle and the yaw angle offset value on the unmanned mining truck laser radar relative to the truck body. Therefore, the yaw angle on the laser radar can be calibrated more accurately and quickly.;

Images