基于虚拟连接点模型的机载LiDAR系统安置误差自检校

摘要

A self-calibration method for estimating system mounting parameters is introduced. Firstly, using the rigorous model of LiDAR direct geo-referencing, the effect of mounting parameters on laser footprint location accuracy is quantitatively analyzed. Then the self-calibration model based on tie points is given. Laser footprints are discretely sampled, so the real corresponding laser points are hardly existent. A virtual tie point model （VTPM） isproposed to resolve the corresponding problem among discrete laser points, EachVTPM containsa tie point and three real laser footprints. Two rules are defined to calculate tie point coordinate from real laser footprints. The flow of self-calibration based on VTPM is described in detail. The practical examples illustrate the feasibility and effectiveness of the proposed self-calibration method.%利用激光扫描直接定位的严格模型，分析LiDAR系统安置误差对定位精度的影响，并设计一种安置参数自检校方法。由于离散采样的激光点之间不存在真实的同名连接点，提出虚拟连接点模型，将虚拟连接点与真实激光点联系起来，并定义两组规则从激光点坐标计算出连接点坐标。采用安阳市内真实LiDAR数据进行试验，证明本文方法的可行性和有效性，自检校获得的安置参数稳定有效，可直接对原始LiDAR条带进行纠正，补偿系统安置误差。