国产螺旋式扫描激光雷达系统自检校方法研究

摘要

论文提出一种对螺旋式扫描机载激光雷达系统进行安置角自检校的新算法.首先推导了螺旋式扫描激光雷达点云定位的数学模型;然后提取了激光雷达点云数据重叠区的面特征,并构建了基于面特征的激光雷达检校模型;最后,仿真分析了安置角误差对往返航带前后向扫描数据的影响,并利用同名面特征,基于区域网平差方法同时估计了平面参数和安置角参数.实验结果表明,该方法实现了激光雷达安置角的自检校,且绝对精度满足生产数据要求.%This paper presents a new algorithm for self-calibration of spiral scanning airborne laser radar system. Firstly, the mathematic model of the point cloud location of the spiral scanning laser radar is deduced. Then the surface features of the overlapping area of the laser radar point cloud data is extracted, and the feature of the laser radar calibration model is constructed. Finally, the influence of the placement angle error on the forward and backward scanning data is analyzed, The plane parameters and the placement angle are estimated based on the regional network adjustment method by using the same name surface feature. The experimental results show that this method realizes the self-calibration of the placement angle of spiral scanning airborne laser radar system, and the absolute accuracy satisfies requirement of the production data.