CN101900806A - Method and device for real-time compensation of roll angle deviation of airborne laser radar - Google Patents
Method and device for real-time compensation of roll angle deviation of airborne laser radar Download PDFInfo
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Abstract
The invention discloses a method and a device for the real-time compensation of the roll angle deviation of an airborne laser radar. A roll angle compensation control device and a roll angle driving device are designed mainly. The devices comprise a roll angle compensation controller, a laser Q switch control circuit, a pumping lamp high-frequency pulse power supply and an electro-optic Q switch. The roll angle compensation controller receives the roll angle deviation measured by a GPS/INS combined measuring system, combines a real-time angle measured by a rotary prism optical electric axial angle encoder for making a judgment and outputs a high-level conduction control signal; the signal and a high-frequency pulse signal of the pumping lamp power supply commonly act on the laser Q switch control circuit so that the laser Q switch control circuit outputs the high-voltage pulse signal to the electro-optic Q switch in a control signal connection period so as to control a laser emitter to emit laser pulses in a proper scanning angle area to realize real-time high-precision compensation of the roll angle deviation.
Description
Technical field
The present invention relates to the compensation problem of spot scan formula three-dimensional imaging roll angle deviation of airborne laser radar, especially a kind of method and apparatus that is used for real-time compensation of roll angle deviation of airborne laser radar.
Background technology
Airborne laser radar is based on the terrain mapping technology of laser distance measuring principle, integrated aircraft platform, laser scanner, differential Global Positioning System DGPS (Differential Global Positioning System), inertial navigation system INS (Initial Navigation System) and computer data acquiring and disposal system etc.
The airborne laser radar course of work is as follows: aircraft is with predefined line of flight unaccelerated flight, measure the flight path and the attitude angle of laser scanner payload platform in real time by Kalman Filter Technology by the DGPS/INS combination metering system, flight time according to laser pulse calculates the distance of laser scanner optical centre to ground laser pin point, obtain the scan angle of this laser pulse x time by optical electric axial angle encoder, can calculate the three-dimensional coordinate of ground laser pin point according to above data.A large amount of laser pin points forms laser point cloud, handles through the subsequent point cloud, obtains the three-dimensional imaging of tested landform, i.e. digital elevation model DEM (DigitalElevation Model) and digital surface model DSM (Digital Surface Model) etc.DEM and DSM precision depend on density, distribution and the coordinate precision of laser point cloud.
The imperfect motion of payload platform attitude angle causes the deviation of airborne laser radar attitude angle, can cause the distributed areas of laser point cloud to change and the density change.Wherein, the variation of laser point cloud distributed areas can cause targeted scans zone drain sweep, and tested landform three-dimensional imaging has disappearance, and the density of laser point cloud reduces to realize the 3-D view of undistorted recovery real terrain, cause the degeneration of 3-D view, spatial resolution descends.At present airborne platform has various ways, as directly being installed on fixed platform, gravity stable platform, the mechanical damping vibration isolation type platform of flight fuselage, and moment gyro control type platform etc.No matter adopt which kind of mode, because the payload platform quality is bigger, inertia is big, and its control rate and control accuracy are limited, present attitude angle deviation variation can remain on ± 5 ° in, frequency change is about 1Hz.The variation range of this attitude angle deviation is very big to the influence of laser scanning point cloud distribution and density, wherein roll angle deviation can cause the scan stripes region that bigger distortion takes place, causing designing the leakage of target area, top, course line retouches, so the bandwidth Duplication in present airborne laser radar adjacent course line have up to 50%, greatly reduced the airborne laser radar scan efficiency.And the real-Time Compensation of carrying out roll angle deviation can make scanning strip more regular, reduces drain sweep, can reduce above-mentioned bandwidth Duplication simultaneously, improves the airborne laser radar work efficiency greatly, the serviceable life of also having improved equipment simultaneously.
At present, the laser radar of existing various spot scan formula three-dimensional imaging airborne laser radars and other correlation types is all less than real-Time Compensation function and device at the airborne platform roll angle deviation, patent about laser radar, for example the patent No. is respectively 200410064660.2,200810009609.X the mentioned laser radar structure of Chinese patent all do not relate to the real-Time Compensation problem of airborne platform roll angle deviation, existing simultaneously document is not also about roll angle deviation Study on Compensation Technique and description.
Summary of the invention
At the defective that exists in the above-mentioned prior art, problem to be solved by this invention provides a kind of method and apparatus that is used for real-time compensation of roll angle deviation of airborne laser radar, the main difference of itself and existing airborne laser radar is, increased a roll angle compensating controller, a laser instrument Q-switch control circuit and an electro-optical Q-switch circuit, the roll angle deviation that utilizes the GPS/INS combination metering system to obtain, in conjunction with the real-time rotational angle feedback signal of rotating prism optical electric axial angle encoder acquisition rotating prism, realize the translation control of laser periodic pulse train on time interval to generating laser.Again because the rotating prism uniform rotation, the then translation control of laser periodic pulse train on time interval, be equivalent to the translation control of the effective scanning angular interval of laser periodic pulse train on each scanning plane of multifacet rotating prism, thereby realize that having solved existing airborne laser radar can not be to the problem of payload platform real-time compensation of roll angle deviation to the purpose of roll angle deviation compensation.But the present invention's real-time high-precision compensation payload platform roll angle deviation distributes to airborne laser radar point cloud and the adverse effect of three-dimensional imaging, effectively improves the work efficiency and the service life of equipment of airborne laser radar.
A kind of method and apparatus that is used for real-time compensation of roll angle deviation of airborne laser radar provided by the invention is characterized in that comprising laser scanning instrument apparatus (1), roll angle compensate control apparatus and drive unit (2), airborne platform attitude angle device (3), the airborne platform (4) that can realize the roll angle deviation compensation.The described laser scanning instrument apparatus (1) of realizing the roll angle deviation compensation is characterized in that comprising that generating laser (11), light path optical device (12), rotating prism (13), echo receive sniffer (14), rotating prism motor (15), rotating prism optical electric axial angle encoder (16); Described roll angle compensate control apparatus and drive unit (2) is characterized in that comprising roll angle compensating controller (21), laser instrument Q-switch control circuit (22), pumping lamp high frequency pulse power supply (23), electro-optical Q-switch (24); Described airborne platform attitude angle device (3) is characterized in that comprising GPS/INS combination metering system (31), Kalman filter (32); Described airborne platform (4) is used to install various measurement load, comprise various forms of payload platforms, as gravity stable payload platform, mechanical damping formula payload platform, gyroscopic couple stable payload platform etc., described laser scanning instrument apparatus (1), described roll angle compensate control apparatus and drive unit (2), the described airborne platform attitude angle device (3) of roll angle deviation compensation realized all is fixed on the described airborne platform (4).
Wherein, there are a plurality of reflectings surface in described rotating prism (13), and its electric machine rotational axis line parallel is in the plane of described airborne platform (4), and parallel with the aircraft flight direction.
Wherein, described roll angle compensating controller (21) is by the control described electro-optical Q-switch of described laser instrument Q-switch control circuit (22) conducting (24), and described electro-optical Q-switch (24) is controlled the high precision real-Time Compensation of realization launch time of described generating laser (11) to roll angle deviation.
Wherein, described GPS/INS combination metering system (31) is measured the attitude angle real-time measuring data that obtains described payload platform (4), after described Kalman filter (32) processing, obtain high-precision roll angle deviation value, send into described roll angle compensating controller (21), the real-time rotational angle of the described rotating prism (13) that obtains in conjunction with described rotating prism optical electric axial angle encoder (16) is judged, when the rotational angle of described rotating prism optical electric axial angle encoder (16) is being controlled between the angle, then described roll angle compensating controller (21) output high level conducting control signal.
Wherein, the high level conducting control signal of described roll angle compensating controller (21) output is controlled effectively conducting scope of described laser instrument Q-switch control circuit (22); During effective Continuity signal, described laser instrument Q-switch control circuit (22) receives the high-frequency impulse output of described pumping lamp high frequency pulse power supply (23), produce high voltage Q impulse signal, import described electro-optical Q-switch (24), control described generating laser (11) laser pulse that the generation cycle changes in corresponding time interval, because described rotating prism (13) uniform rotation, therefore the variation of laser pulse effective firing time has been equivalent to change the effective scanning angular regions of the laser pulse emission of described rotating prism (13), thereby can realize the real-time high-precision compensation of roll angle deviation.
But a kind of roll angle deviation that is used for the described airborne platform of method and apparatus real-Time Compensation (4) of real-time compensation of roll angle deviation of airborne laser radar provided by the invention, its advantage is: the roll angle deviation of payload platform is in ± 5 ° on the present aircraft, but because the quality and the inertia of payload platform are bigger, therefore directly the effect of control or compensation payload platform attitude angle deviation is limited at present, the inventive method and device do not adopt and change laser scanner main body hardware configuration, increase control circuit and relative control technologies and adopt, by changing the effective firing time of generating laser, realize high precision real-Time Compensation to roll angle deviation of airborne laser radar.Owing to adopt electric signal control, do not have machinery control, so can reach very high control rate and compensation precision.
Description of drawings
Fig. 1 is a kind of method and apparatus synoptic diagram that is used for real-time compensation of roll angle deviation of airborne laser radar.
Fig. 2 is the space structure synoptic diagram that can realize the laser scanning instrument apparatus (1) of roll angle deviation compensation.
Fig. 3 is the compensation synoptic diagram of airborne platform roll angle deviation.
Fig. 4 is the laser pulse emission sequential control schematic diagram of no real-time compensation of roll angle deviation.
Fig. 5 is the laser pulse emission sequential control schematic diagram that can realize real-time compensation of roll angle deviation.
Embodiment
Below in conjunction with accompanying drawing patent working example of the present invention is described in further detail.
Fig. 1 is a kind of method and apparatus synoptic diagram that is used for real-time compensation of roll angle deviation of airborne laser radar.In the practical flight process, owing to be subjected to the interference of various interior extraneous factors, described airborne platform (4) can't keep desirable linear uniform motion state and constant attitude angle state, and (the desirable roll angle and the angle of pitch are zero, crab angle is a constant), produced attitude angle deviation (deviation that comprises roll angle, the angle of pitch and crab angle).Obtain the attitude angle data of described airborne platform (4) by described GPS/INS combination metering system (31), obtain high-precision roll angle deviation value, send in the described roll angle compensating controller (21) through described Kalman filter (32) subsequent treatment.Obtain the real-time anglec of rotation of described rotating prism (13) by described rotating prism optical electric axial angle encoder (16), when the anglec of rotation of described rotating prism optical electric axial angle encoder (16) is in the effective emission angle of laser pulse interval, then described roll angle compensating controller (21) output high level conducting control signal.The high level conducting control signal of described roll angle compensating controller (21) output is controlled effective conducting phase of described laser instrument Q-switch control circuit (22), in effective conduction period, described laser instrument Q-switch control circuit (22) is accepted the high-frequency impulse output of described pumping lamp high frequency pulse power supply (23), produce high voltage Q impulse signal, send into described electro-optical Q-switch (24), control described generating laser (11) and in corresponding time interval, produce the controllable period laser pulse, because described rotating prism (13) uniform rotation, therefore be equivalent to change the effective scanning angular regions of the laser pulse transmitting sequence of described rotating prism (13), thereby can have realized the real-time high-precision compensation of roll angle deviation.
Fig. 2 is the space structure synoptic diagram that can realize the laser scanning instrument apparatus (1) of roll angle deviation compensation.Described laser instrument (11) sends laser pulse (thick dot-and-dash line), is divided into big or small two bundles through described light splitting piece (121), and big beam is to described catoptron (122), and a tuftlet is transmitted into described range counter (142), is used for the x time of recording laser.Big beam laser arrives described rotating prism (13) by described catoptron (122) reflection back, directive ground after rotating prism (13) reflection.After the reflected light (shown in the fine dotted line) of ground laser pin point reflects by described rotating prism (13), arrive described main mirror (124) and described reception mirror (123) of receiving, carrying out light beam converges, arrive described avalanche diode detector (141) at last, obtain echoed signal, described avalanche diode detector (141) sends electric pulse, sends into described range counter (142), notes return laser beam constantly.In described range counter (142), the x time and the echo moment according to laser, can calculate the airborne hours of laser pulse, thereby can obtain the laser ranging value.
The electrical axis of described rotating prism (13) is parallel to described airborne platform (4), and parallel with heading.When described airborne platform (4) when roll angle deviation is arranged, can control effective conducting control period of described laser instrument Q-switch control circuit (22) by described roll angle compensating controller (21), during this period, the high voltage signal of described pumping lamp high frequency pulse power supply (23) can be controlled described laser instrument Q-switch control circuit (22) and produce periodic pulse signal, offer described electro-optical Q-switch (24), realize output laser pulse sequential control described generating laser (11).Because described rotating prism (13) is uniform rotation all the time, so change the effective firing time zone of described generating laser (11), be equivalent to change the usable reflection angular regions of the laser pulse sequence on each reflecting surface of described rotating prism (13), realize the real-time high-precision compensation of roll angle deviation by the effective scanning angle that changes laser beam.
Fig. 3 is the compensation synoptic diagram of airborne platform roll angle deviation.Laser scanning when Fig. 3 (a) is the no roll angle deviation of described airborne platform (4).On each reflecting surface of described rotating prism (13), get an interval emission laser pulse of the corresponding anglec of rotation of each face symmetrically, make laser scanning line on the landform of plane with respect to Laser emission sky bottom line left-right symmetric.Fig. 3 (b) is described airborne platform (4) when roll angle deviation is arranged and the laser scanning when not having roll angle deviation of the present invention compensation.As seen, the laser scanning line on the landform of plane is followed the rotation direction of roll angle deviation and left and right sides translation, causes the twisting of laser point cloud distributed areas, ground, is unfavorable for satisfying scanning work requirement and follow-up three-dimensional image making.Fig. 3 (c) is described airborne platform (4) when roll angle deviation is arranged, and has carried out the laser scanning that roll angle deviation compensates according to the method for the invention and device.Effective firing time zone by the control laser pulse sequence, changed the effective scanning angular regions of laser pulse sequence, thereby realized real-Time Compensation, eliminated the adverse effect that described airborne platform (4) roll angle deviation distributes to laser point cloud roll angle deviation.
Fig. 4 is the laser pulse emission sequential control schematic diagram of no real-time compensation of roll angle deviation.When the no roll angle deviation of described airborne platform (4), if described rotating prism (13) is six prisms, the corresponding center of each face angle is 60 °, its laser scanning angle range is-30 ° to+30 °, so at each rotating prism scanning plane, the high-voltage pulse signal coverage of described pumping lamp high frequency pulse power supply (23) is-30 ° to+30 °.By between the high voltage pulse generating region of controlling described laser instrument Q-switch control circuit (22) output, can make the actual scanning angle be-15 ° to+15 °, specific implementation is: the angle that is obtained rotating prism by described rotating prism optical electric axial angle encoder (16) in real time, in-15 ° to+15 ° intervals, described roll angle compensating controller (21) output high level signal, and all the other times are low level signal.Described roll angle compensating controller (21) output high level signal makes described laser instrument Q-switch control circuit (22) conducting be in effective duty, accepts the modulation of the high-frequency pulse signal of described pumping lamp high frequency pulse power supply (23) during this period.Described laser instrument Q-switch control circuit (22) is output as stable high voltage under the normal condition, and this high voltage offers described electro-optical Q-switch (24), and then Q is a low value in the laser resonant cavity, and the laser instrument nonoscillatory can not produce laser pulse.After described pumping lamp high frequency pulse power supply (23) high-frequency impulse arrives, through internal delay time device time-delay certain hour in the described laser instrument Q-switch control circuit (22), high voltage output is removed rapidly, then laser resonant cavity becomes low-loss, high Q state of value, described generating laser (11) produces laser pulse, the described rotating prism of directive (13), and described laser instrument Q-switch control circuit (22) output recovers high voltage rapidly, then laser instrument becomes the low reactance-resistance ratio state, stops transponder pulse.When the described pumping lamp high frequency pulse power supply of the next one (23) pulse signal arrives, repeat above-mentioned laser pulse production process.And outside-15 ° to+15 ° zones, described roll angle compensating controller (21) output low level signal, described pumping lamp high frequency pulse power supply (23) can not be modulated described laser instrument Q-switch control circuit (22), it is output as high voltage all the time and offers described electro-optical Q-switch (24), then Q is a low value in the laser resonant cavity, the laser instrument nonoscillatory is so described generating laser (11) can not be launched laser pulse.By above process, can realize when described rotating prism (13) in the scanning angle scope for-15 ° to+15 ° the time, generation cycle laser pulse sequence.Fig. 5 is the laser pulse emission sequential control schematic diagram that can realize real-time compensation of roll angle deviation.When described airborne platform (4) when roll angle deviation is arranged, to establish roll angle deviation and be+5 °, the emission laser offset angle of then described rotating prism (13) should be-5 °.By controlling high voltage pulse interval launch time of described laser instrument Q-switch control circuit (22) output, can make the actual scanning angle be-20 ° to+10 °, specific implementation is: the angle that is obtained rotating prism by described rotating prism optical electric axial angle encoder (16) in real time, in-20 ° to+10 ° intervals, described roll angle compensating controller (21) output high level signal, and all the other times are low level signal.Described roll angle compensating controller (21) output high level signal makes described laser instrument Q-switch control circuit (22) conducting be in effective duty, accepts the modulation of the high-frequency pulse signal of described pumping lamp high frequency pulse power supply (23) during this period.Described laser instrument Q-switch control circuit (22) is output as stable high voltage under the normal condition, and this high voltage offers described electro-optical Q-switch (24), and then Q is a low value in the laser resonant cavity, and the laser instrument nonoscillatory can not produce laser pulse.After described pumping lamp high frequency pulse power supply (23) high-frequency impulse arrives, through internal delay time device time-delay certain hour in the described laser instrument Q-switch control circuit (22), high voltage output is removed rapidly, then laser resonant cavity becomes low-loss, high Q state of value, described generating laser (11) produces laser pulse, the described rotating prism of directive (13), and described laser instrument Q-switch control circuit (22) output recovers high voltage rapidly, then laser instrument becomes the low reactance-resistance ratio state, stops transponder pulse.When the described pumping lamp high frequency pulse power supply of the next one (23) pulse signal arrives, repeat above-mentioned laser pulse production process.And outside-20 ° to+10 ° zones, described roll angle compensating controller (21) output low level signal, described pumping lamp high frequency pulse power supply (23) can not be modulated described laser instrument Q-switch control circuit (22), it is output as high voltage all the time and offers described electro-optical Q-switch (24), then Q is a low value in the laser resonant cavity, the laser instrument nonoscillatory is so described generating laser (11) can not be launched laser pulse.By above process, can realize when described rotating prism (13) in the scanning angle scope for-20 ° to+10 ° the time, produce the cycle laser pulse sequence, thereby realization is to the real-Time Compensation of roll angle deviation.Because it is slower that the roll angle deviation of described airborne platform (4) changes, frequency is about 1Hz, and the gyro frequency of described rotating prism (13) reaches more than the 50Hz, so can be similar to and think the every scanning of laser radar delegation laser spots, the roll angle deviation of described airborne platform (4) is constant, can carry out the compensation of roll angle deviation at each laser line.
More than to the description of the present invention and embodiment thereof, be not limited thereto, only be one of embodiments of the present invention shown in the accompanying drawing.Under the situation that does not break away from the invention aim,, all belong to protection domain of the present invention without designing and similar structure of this technical scheme or embodiment with creating.
Claims (5)
1. a method and apparatus that is used for real-time compensation of roll angle deviation of airborne laser radar is characterized in that comprising laser scanning instrument apparatus (1), roll angle compensate control apparatus and drive unit (2), airborne platform attitude angle device (3), the airborne platform (4) that can realize the roll angle deviation compensation.The described laser scanning instrument apparatus (1) of realizing the roll angle deviation compensation is characterized in that comprising that generating laser (11), light path optical device (12), rotating prism (13), echo receive sniffer (14), rotating prism motor (15), rotating prism optical electric axial angle encoder (16); Described roll angle compensate control apparatus and drive unit (2) is characterized in that comprising roll angle compensating controller (21), laser instrument Q-switch control circuit (22), pumping lamp high frequency pulse power supply (23), electro-optical Q-switch (24); Described airborne platform attitude angle device (3) is characterized in that comprising GPS/INS combination metering system (31), Kalman filter (32); Described airborne platform (4) is used to install various measurement load, comprise various forms of payload platforms, as gravity stable payload platform, mechanical damping formula payload platform, gyroscopic couple control type payload platform etc., described laser scanning instrument apparatus (1), described roll angle compensate control apparatus and drive unit (2), the described airborne platform attitude angle device (3) of roll angle deviation compensation realized all is fixed on the described airborne platform (4).
2. according to the described a kind of method and apparatus that is used for real-time compensation of roll angle deviation of airborne laser radar of claim 1, it is characterized in that there are a plurality of reflectings surface in described rotating prism (13), its electric machine rotational axis line parallel is in the plane of described airborne platform (4), and parallel with the aircraft flight direction.
3. according to the described a kind of method and apparatus that is used for real-time compensation of roll angle deviation of airborne laser radar of claim 1, it is characterized in that described roll angle compensating controller (21) by the control described electro-optical Q-switch of described laser instrument Q-switch control circuit (22) conducting (24), described electro-optical Q-switch (24) is controlled the high precision real-Time Compensation of realization launch time of described generating laser (11) to roll angle deviation.
4. according to claim 1 or the described a kind of method and apparatus that is used for real-time compensation of roll angle deviation of airborne laser radar of claim 3, it is characterized in that described GPS/INS combination metering system (31) measurement obtains the attitude angle real-time measuring data of described payload platform (4), after described Kalman filter (32) processing, obtain high-precision roll angle deviation value, send into described roll angle compensating controller (21), the real-time rotational angle of the described rotating prism (13) that obtains in conjunction with described rotating prism optical electric axial angle encoder (16) is judged, when the rotational angle of described rotating prism optical electric axial angle encoder (16) is being controlled between the angle, then described roll angle compensating controller (21) output high level conducting control signal.
5. according to claim 1 or claim 3 or the described a kind of method and apparatus that is used for real-time compensation of roll angle deviation of airborne laser radar of claim 4, it is characterized in that the high level conducting control signal of described roll angle compensating controller (21) output is controlled effectively conducting scope of described laser instrument Q-switch control circuit (22); During effective Continuity signal, described laser instrument Q-switch control circuit (22) receives the high-frequency impulse output of described pumping lamp high frequency pulse power supply (23), produce high voltage Q impulse signal, import described electro-optical Q-switch (24), control described generating laser (11) laser pulse that the generation cycle changes in corresponding time interval, because described rotating prism (13) uniform rotation, therefore the variation of laser pulse effective firing time has been equivalent to change the effective scanning angular regions of the laser pulse emission of described rotating prism (13), thereby can realize the real-time high-precision compensation of roll angle deviation.
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| CN102426355A (en) * | 2011-09-14 | 2012-04-25 | 北京航空航天大学 | Device and method for compensating laser emission pointing disturbance of airborne LADAR (Laser Detection and Ranging) |
| CN102508221A (en) * | 2011-10-13 | 2012-06-20 | 北京航空航天大学 | Deviation compensation method of angle of roll of airborne laser radar |
| CN102508258A (en) * | 2011-11-29 | 2012-06-20 | 中国电子科技集团公司第二十七研究所 | Three-dimensional imaging laser radar for obtaining surveying and mapping information |
| CN103033806A (en) * | 2012-12-27 | 2013-04-10 | 山东理工大学 | Method and device for airborne laser scanning flying height change real-time compensation |
| CN103075994A (en) * | 2013-01-04 | 2013-05-01 | 中国科学院光电技术研究所 | Measure method for confirming roll angle of revolving body target based on spiral line method |
| CN103076614A (en) * | 2013-01-18 | 2013-05-01 | 山东理工大学 | Laser scanning method and device for helicopter collision avoidance |
| CN106289098A (en) * | 2016-07-22 | 2017-01-04 | 武汉海达数云技术有限公司 | The method of controlling rotation of three-dimensional laser scanner |
| CN109752749A (en) * | 2018-12-10 | 2019-05-14 | 北京航空航天大学 | A kind of high Attitude estimation method and system for revolving the low rotation component of aircraft |
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| CN110573928A (en) * | 2017-04-28 | 2019-12-13 | 深圳市大疆创新科技有限公司 | Angular calibration in light detection and ranging systems |
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| CN102426355A (en) * | 2011-09-14 | 2012-04-25 | 北京航空航天大学 | Device and method for compensating laser emission pointing disturbance of airborne LADAR (Laser Detection and Ranging) |
| CN102508221A (en) * | 2011-10-13 | 2012-06-20 | 北京航空航天大学 | Deviation compensation method of angle of roll of airborne laser radar |
| CN102508221B (en) * | 2011-10-13 | 2013-09-04 | 北京航空航天大学 | Deviation compensation method of angle of roll of airborne laser radar |
| CN102508258A (en) * | 2011-11-29 | 2012-06-20 | 中国电子科技集团公司第二十七研究所 | Three-dimensional imaging laser radar for obtaining surveying and mapping information |
| CN103033806A (en) * | 2012-12-27 | 2013-04-10 | 山东理工大学 | Method and device for airborne laser scanning flying height change real-time compensation |
| CN103075994B (en) * | 2013-01-04 | 2015-05-13 | 中国科学院光电技术研究所 | Measure method for confirming roll angle of revolving body target based on spiral line method |
| CN103075994A (en) * | 2013-01-04 | 2013-05-01 | 中国科学院光电技术研究所 | Measure method for confirming roll angle of revolving body target based on spiral line method |
| CN103076614B (en) * | 2013-01-18 | 2015-11-11 | 山东理工大学 | The crashproof laser scanning device of a kind of helicopter |
| CN103076614A (en) * | 2013-01-18 | 2013-05-01 | 山东理工大学 | Laser scanning method and device for helicopter collision avoidance |
| CN106289098A (en) * | 2016-07-22 | 2017-01-04 | 武汉海达数云技术有限公司 | The method of controlling rotation of three-dimensional laser scanner |
| CN106289098B (en) * | 2016-07-22 | 2018-09-14 | 武汉海达数云技术有限公司 | The method of controlling rotation of three-dimensional laser scanner |
| CN109844569A (en) * | 2016-10-04 | 2019-06-04 | Hzw控股有限公司 | A kind of gravitometer component |
| CN110573928A (en) * | 2017-04-28 | 2019-12-13 | 深圳市大疆创新科技有限公司 | Angular calibration in light detection and ranging systems |
| CN110573928B (en) * | 2017-04-28 | 2021-10-08 | 深圳市大疆创新科技有限公司 | Angular calibration in light detection and ranging systems |
| CN109752749A (en) * | 2018-12-10 | 2019-05-14 | 北京航空航天大学 | A kind of high Attitude estimation method and system for revolving the low rotation component of aircraft |
| CN113777592A (en) * | 2021-09-10 | 2021-12-10 | 广州中海达卫星导航技术股份有限公司 | Azimuth angle calibration method and device |
| CN113777592B (en) * | 2021-09-10 | 2024-04-05 | 广州中海达卫星导航技术股份有限公司 | Azimuth calibration method and device |
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