CN101609149A - A kind of method that improves attitude determination precision of airborne laser radar - Google Patents
A kind of method that improves attitude determination precision of airborne laser radar Download PDFInfo
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Abstract
The invention discloses and a kind ofly under the condition of selecting low cost, low precision INS for use, find the solution three attitude errors, thereby improve the method for attitude determination precision of airborne laser radar by the two-dimensional coordinate error that unique point is fastened at terrestrial coordinate.It is characterized in that, decide the three-dimensional preliminary coordinate of correcting that appearance data, laser ranging data, scan angle data etc. ask unique point to fasten at terrestrial coordinate in conjunction with GPS locator data, INS; Error of coordinate of fastening at terrestrial coordinate according to described laser pin point and the mapping relations between the attitude error are found the solution attitude error by unique point at the preliminary correction coordinate of earth coordinates two-dimensional directional and the difference between the true coordinate; Utilize the low precision INS attitude data of the attitude error correction of being tried to achieve, thereby improve the accuracy of attitude determination of airborne laser radar.The present invention can reduce system cost greatly, and can be applicable to the situation of platform attitude frequent variations in the small-sized airborne remote sensing application with upper frequency correction attitude error.
Description
Technical field
The present invention relates to remote sensing and earth observation field, be mainly a kind of method that improves attitude determination precision of airborne laser radar.
Background technology
But airborne laser radar is widely used in fields such as topographic mapping, oceanic sounding, atmosphere environment supervision, ecosystem measurement, military and national defense with its all weather operations, operating flexibility, advantage such as cost is low, easy to operate, operating efficiency is high, drafting period is short.
Along with GPS (Global Position System, GPS), inertial navigation system (Inertial Navigation System, INS), the development of laser ranging technique etc., the bearing accuracy and the imaging precision of airborne laser radar are greatly improved.Especially the differential GPS The Application of Technology makes the bearing accuracy of GPS bring up to centimetre-sized by meter level.But because attitude error is very big to the location precision of airborne laser radar, high precision remote sensing and earth observation require very high to the accuracy of attitude determination of INS.And the INS price with enough accuracy is very expensive, needs long initialization and alignment time, and this has not only increased the cost of system, has also reduced the operational efficiency of system.Moreover INS utilizes the motion that is installed in inertial measuring unit (accelerometer and the gyroscope) sensitive carrier on the carrier, by the attitude data of integration output carrier, the problem that this attitude data exists error to accumulate rapidly in time.
The measuring error of attitude angle is a major reason that causes picture element to degenerate, and selects for use high-precision INS equipment that system cost will be increased greatly.Therefore, the accuracy of attitude determination of raising airborne laser radar has important practical significance under the prerequisite that reduces system cost." hi-Fix on a kind of laser radar platform, decide the apparatus and method of appearance " is open in Chinese patent 200710064115.7, this method adopts carries out relative orientation calculating to several aviation digital images that obtain, obtain the low frequency high-precision attitude parameter value of laser radar platform on the work course line, with this low frequency high-precision attitude parameter value the low precision parameter of high frequency that INS obtains is carried out correcting process, obtain the high-precision attitude parameter information of platform.The restriction in cycle but the regional extent that this method is carried out the high precision correction to ground laser pin point three-dimensional coordinate is taken photo by plane, the explanation cycle of taking photo by plane is about 4 seconds in its patent, promptly decide the appearance error, be applicable to that carrier aircraft platform attitude angle changes situation more slowly with the frequency correction of 4s.Along with light-small aircraft applying in airborne remote sensing, bigger variation takes place in above-mentioned applicable cases.On the one hand, because reducing of aircraft size and weight causes the attitude variation of carrier aircraft platform more frequent, need the cycle of taking photo by plane of aerial map picture as far as possible little.On the other hand, light-small aircraft load-carrying quantitative limitation has also limited the storage capacity of memory device, and this just makes that the cycle of taking photo by plane of aerial map picture can not be too little.The too small cycle of taking photo by plane can cause data processing amount to increase sharply simultaneously, has not only increased the difficulty of data processing, also is unfavorable in time obtaining of laser radar remote sensing image.
Therefore, under the condition of selecting low cost, low precision INS equipment for use, study a kind of method that improves attitude determination precision of airborne laser radar and be very important.The present invention discloses a kind of ground coordinate error from laser pin point and resolves the attitude angle error, thereby improves the method for attitude determination precision of airborne laser radar.This method can be applicable to the situation of platform attitude frequent variations in the small-sized airborne remote sensing application with the measuring error of upper frequency correction attitude angle.The present invention has broad application prospects in remote sensing and earth observation field.
Summary of the invention
The present invention a kind ofly finds the solution three attitude errors by the two-dimensional coordinate error of unique point in earth coordinates under the condition that only need select low cost, low precision INS equipment for use, thereby improves the method for attitude determination precision of airborne laser radar.
A kind of method that improves attitude determination precision of airborne laser radar that the present invention proposes is by the following technical solutions:
Select for use in the airborne laser radar remote sensing system under the condition of low cost, low precision INS equipment, find the solution three attitude errors, thereby improve the method for attitude determination precision of airborne laser radar by the two-dimensional coordinate error that unique point is fastened at terrestrial coordinate.It is characterized in that, try to achieve the three-dimensional preliminary coordinate of correcting that unique point is fastened at terrestrial coordinate in conjunction with GPS locator data, low precision INS attitude data, laser ranging data, scan angle data etc.; According to the mapping relations of described laser pin point between error of coordinate that terrestrial coordinate is fastened and three attitude errors, find the solution three attitude errors at the preliminary correction coordinate of earth coordinates directions X and Y direction and the difference between the true coordinate by unique point; Utilize the low precision INS attitude data of the attitude error correction of being tried to achieve, thereby improve the accuracy of attitude determination of airborne laser radar.Wherein, described laser repetition rate is far above the frequency that carrier aircraft platform attitude changes significantly, can think to remain unchanged along heading, the attitude angle that contains machine platform in the scanning area of certain limit; In the scanning area that described each attitude angle remains unchanged, select two unique points; Try to achieve its true coordinate by the position of described unique point on the aerial map picture in earth coordinates directions X and Y direction.The present invention can reduce system cost greatly, and can be applicable to the situation of platform attitude frequent variations in the small-sized airborne remote sensing application with the measuring error of upper frequency correction attitude angle.
Wherein, described laser repetition rate is far above the frequency that carrier aircraft platform attitude changes significantly, can think to remain unchanged along heading, the attitude angle that contains machine platform in the scanning area of certain limit; Certain limit, can think and select two unique points in the scanning area that attitude angle remains unchanged.
Wherein, according to the position of unique point on the aerial map picture, ask its true coordinate in earth coordinates directions X and Y direction.
Wherein, by deciding appearance data, laser ranging data, scan angle data etc. in conjunction with GPS locator data, low precision INS, the three-dimensional preliminary coordinate of correcting of asking unique point to fasten at terrestrial coordinate.
Wherein, ask three corresponding attitude errors of this scanning area at the preliminary correction coordinate of earth coordinates directions X and Y direction with the difference between the true coordinate, comprising: angle of roll error, angle of pitch error, crab angle error by unique point.
Wherein, low precision INS decides the appearance data with the attitude error correction of trying to achieve, and improves the accuracy of attitude determination of airborne laser radar.
Wherein, to remain unchanged be to set up under the prerequisite of pulse repetition rate far above carrier aircraft platform attitude change frequency of airborne laser radar to the described attitude angle of thinking certain scanning area.Described unique point is the point that house marginal point, road junction etc. have obvious characteristic.
Wherein, described unique point at the method for solving of the true coordinate of earth coordinates directions X and Y direction is: at first set two scaling points in scanning area, its coordinate in earth coordinates directions X and Y direction is known; In flight course with certain cycle to the survey region photographic images, with the piece image that wherein comprises these two scaling points is reference picture, determine the position of reference picture in earth coordinates by the known terrestrial coordinate of these two scaling points, then the have a few on this reference picture can be multiply by the camera enlargement factor by itself and the relative position of scaling point in image in the true coordinate of earth coordinates directions X and Y direction and tried to achieve; For other aerial map pictures, can be located by the method for images match in the earth coordinates, in like manner can try to achieve in the scanning area have a few in the true coordinate of earth coordinates directions X and Y direction.
Wherein, described aerial map as the overlay area all less than the laser scanning zone, this require to take several aerial map pictures, and interframe has certain overlapping, by means of the images match of overlapping region, can obtain on the next frame aerial map picture each point in the true coordinate of earth coordinates directions X and Y direction.
Wherein, the method for solving of described attitude error is: according to the mapping relations of laser pin point between error of coordinate that terrestrial coordinate is fastened and three attitude errors, two unique points can be set up four equations between the difference of the preliminary correction coordinate of earth coordinates directions X and Y direction and true coordinate and three attitude errors, utilize three equations wherein can try to achieve three attitude errors.
Beneficial effect of the present invention: the present invention discloses and a kind ofly finds the solution three attitude errors by the two-dimensional coordinate error of unique point on terrestrial coordinate under the condition of selecting low cost, low precision INS equipment for use, thereby improves the method for attitude determination precision of airborne laser radar.The present invention is less demanding to the measuring accuracy of INS, only need select the INS equipment of low cost, low precision for use, therefore, can reduce system cost.As long as survey region has the abundant unique point that is used, the present invention can be applicable to the situation of platform attitude frequent variations in the small-sized airborne remote sensing application with the measuring error of upper frequency correction attitude angle.The present invention has broad application prospects in remote sensing and survey field.
Description of drawings
Fig. 1 is the theory diagram of raising attitude determination precision of airborne laser radar method of the present invention;
Fig. 2 is the treatment step process flow diagram of raising attitude determination precision of airborne laser radar method of the present invention;
The three-dimensional coordinate resolution principle figure that Fig. 3 fastens at terrestrial coordinate for laser pin point.
Embodiment
Describe the specific embodiment of the present invention in detail below in conjunction with accompanying drawing.The schematic diagram of raising attitude determination precision of airborne laser radar method of the present invention is selected two unique points as shown in Figure 1 in the scanning area that each attitude angle remains unchanged.(set two scaling points in advance on the ground comprising scaling point, its coordinate in earth coordinates directions X and Y direction is known) reference picture in, according to unique point and scaling point on image relative position and the enlargement factor of camera can try to achieve " true coordinate " of unique point in earth coordinates directions X and Y direction, its precision is subjected to the influence of aerial map as resolution and image distortion correction effect.For other aerial map pictures, can be located by the method for images match in the earth coordinates, then can try to achieve the true coordinate of all unique points in earth coordinates directions X and Y direction.Can try to achieve three-dimensional preliminary the correct coordinate of unique point in conjunction with GPS locator data, low precision INS attitude data, laser ranging data and scan angle data etc. in earth coordinates directions X and Y direction.According to the mapping relations of laser pin point between error of coordinate that terrestrial coordinate is fastened and three attitude errors, in the preliminary correction coordinate of earth coordinates directions X and Y direction and the difference of true coordinate, can obtain the attitude error that these two unique point places have the scanning area correspondence of identical attitude angle by unique point.Afterwards, with the low precision INS attitude data of the attitude error correction of trying to achieve, improve the accuracy of attitude determination of airborne laser radar.
The treatment step process flow diagram of raising attitude determination precision of airborne laser radar method of the present invention comprises the steps: as shown in Figure 2
Step 2-1: in flight course, with certain frequency survey region is taken true picture, this frequency should satisfy has enough overlapping regions to carry out images match between adjacent image.
Step 2-2: along the heading of aircraft, change frequency according to laser repetition rate and carrier aircraft platform attitude, determine that the attitude angle that scanning area in certain limit contains machine platform remains unchanged, and selects two unique points in the scanning area that each attitude angle remains unchanged.
Step 2-3: ask the true coordinate of unique point in earth coordinates directions X and Y direction.In all aerial map pictures, getting wherein a width of cloth comprises two scaling points and (sets two scaling points in advance on the ground, its coordinate in earth coordinates directions X and Y direction is known) aerial map to look like be reference picture, the position of this image in earth coordinates can be determined by the known terrestrial coordinate of two scaling points.Suppose that X coordinate and Y coordinate that one of them scaling point is fastened at terrestrial coordinate are respectively X
Ref, Y
Ref, then unique point is at the true coordinate (X of earth coordinates directions X and Y direction
R, Y
R) can try to achieve by formula (1) and (2)
X
R＝X
ref+ΔX×f (1)
Y
R＝Y
ref+ΔY×f (2)
Wherein, Δ X is unique point and scaling point are parallel to the earth coordinates directions X on the aerial map picture a distance, and Δ Y is unique point and scaling point are parallel to earth coordinates Y direction on the aerial map picture a distance, and f is the enlargement factor of boat camera.
Step 2-4: find the solution the three-dimensional preliminary coordinate [X that corrects that unique point is fastened at terrestrial coordinate in conjunction with calculating such as GPS locator data, low precision INS attitude data, laser ranging data and scan angle data
I, Y
I, Z
I]
TThe three-dimensional coordinate resolution principle figure that laser pin point is fastened at terrestrial coordinate as shown in Figure 3, wherein, O-XYZ is a WGS84 coordinate system 301; O
g-X
gY
gZ
gBeing earth coordinates 302, is a local earth axes, can be obtained by certain space coordinate transformation 303 by WGS84 coordinate system 301.Aircraft flies forward along flight path 309, with certain laser repetition rate surface-emission laser over the ground, and writes down GPS locator data, low precision INS attitude data, laser ranging data and scan angle data simultaneously in flight course.Rotation matrix in conjunction with scan angle 307, laser ranging 308 and three attitude angle of value (angle of roll 304, the angle of pitch 305, crab angle 306), can try to achieve the three-dimensional coordinate of laser pin point 310 in WGS84 coordinate system 301, obtain the three-dimensional coordinate of laser pin point 310 in earth coordinates 302 by WGS84 coordinate system 301 to the space coordinate transformation 303 of earth coordinates 302 again.
Step 2-5: according to the mapping relations of laser pin point between the error of coordinate of earth coordinates directions X and Y direction and three attitude errors, by unique point at the preliminary correction coordinate of earth coordinates directions X and Y direction and the difference E between the true coordinate
x, E
y(trying to achieve according to formula (3)) finds the solution the attitude error that causes this error of coordinate, comprises angle of roll error, angle of pitch sum of errors crab angle error.
Step 2-6:, improve the accuracy of attitude determination of airborne laser radar with the low precision INS attitude data of the attitude error correction of trying to achieve.
In sum, the present invention proposes a kind of method that improves attitude determination precision of airborne laser radar: in the scanning area that attitude angle remains unchanged, select two unique points, find the solution attitude error (comprising angle of roll error, angle of pitch sum of errors crab angle error) at the preliminary correction coordinate of earth coordinates directions X and Y direction and the difference of true coordinate with these two unique points.With the low precision INS attitude data of the attitude error correction of trying to achieve, improve the accuracy of attitude determination of airborne laser radar.
The present invention only need adopt the INS equipment of fast, the low precision of low cost, initialization and calibration speed, has reduced system cost, has improved the operational efficiency of system.The key that the inventive method realizes is accurately to select unique point, as long as in a width of cloth aerial map picture enough unique points of extracting and being used are arranged, just can revise the attitude of laser radar in the respective scan area.Therefore, be applicable to the city topographic mapping that unique point is obvious and abundant.Like this, take the photograph the cycle even increase boat and take the photograph under the situation in cycle not dwindling boat, in boat is taken the photograph interval time, also can carry out deciding the correction of appearance error.Thereby patent of the present invention institute extracting method can be with the measuring error of upper frequency correction attitude angle, be applicable to small-sized airborne remote sensing use in the situation of platform attitude frequent variations.The resolution of the precision of method for determining posture of the present invention and aerial map picture is relevant with the spacing of laser pin point, and image resolution ratio is high more, laser pin point is intensive more, and then accuracy of attitude determination is high more.
The above; only be the basic scheme of specific implementation method of the present invention, but protection scope of the present invention is not limited thereto, any those skilled in the art that are in technical scope disclosed by the invention; the variation that can expect or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.All fall into the implication that is equal to of claim and the variation in the scope all will be included within the scope of claim.
Claims (10)
1, the invention discloses and a kind ofly under the condition of selecting low cost, low precision INS equipment for use, find the solution three attitude errors, thereby improve the method for attitude determination precision of airborne laser radar by the two-dimensional coordinate error that unique point is fastened at terrestrial coordinate.It is characterized in that, try to achieve the three-dimensional preliminary coordinate of correcting that unique point is fastened at terrestrial coordinate in conjunction with GPS locator data, low precision INS attitude data, laser ranging data, scan angle data etc.; According to the mapping relations of described laser pin point between error of coordinate that terrestrial coordinate is fastened and three attitude errors, find the solution three attitude errors at the preliminary correction coordinate of earth coordinates directions X and Y direction and the difference between the true coordinate by unique point; Utilize the low precision INS attitude data of the attitude error correction of being tried to achieve, thereby improve the accuracy of attitude determination of airborne laser radar.Wherein, described laser repetition rate is far above the frequency that carrier aircraft platform attitude changes significantly, can think to remain unchanged along heading, the attitude angle that contains machine platform in the scanning area of certain limit; In the scanning area that described each attitude angle remains unchanged, select two unique points; Try to achieve its true coordinate by the position of described unique point on the aerial map picture in earth coordinates directions X and Y direction.The present invention can reduce system cost greatly, and can be applicable to the situation of platform attitude frequent variations in the small-sized airborne remote sensing application with the measuring error of upper frequency correction attitude angle.
2, according to the described a kind of method that improves attitude determination precision of airborne laser radar of claim 1, it is characterized in that, described laser repetition rate is far above the frequency that carrier aircraft platform attitude changes significantly, can think to remain unchanged along heading, the attitude angle that contains machine platform in the scanning area of certain limit; Certain limit, can think and select two unique points in the scanning area that attitude angle remains unchanged.
3, according to the described a kind of method that improves attitude determination precision of airborne laser radar of claim 1, it is characterized in that,, ask its true coordinate in earth coordinates directions X and Y direction according to the position of unique point on the aerial map picture.
4, according to the described a kind of method that improves attitude determination precision of airborne laser radar of claim 1, it is characterized in that, by in conjunction with GPS locator data, low precision INS attitude data, laser ranging data, scan angle data etc., the three-dimensional preliminary coordinate of correcting of asking unique point to fasten at terrestrial coordinate.
5, according to the described a kind of method that improves attitude determination precision of airborne laser radar of claim 1, it is characterized in that, ask this scanning area corresponding three attitude errors at the preliminary correction coordinate of earth coordinates directions X and Y direction with the difference between the true coordinate by unique point, comprising: angle of roll error, angle of pitch error, crab angle error.
6, according to the described a kind of method that improves attitude determination precision of airborne laser radar of claim 1, it is characterized in that,, improve the accuracy of attitude determination of airborne laser radar with the low precision INS attitude data of the attitude error correction of trying to achieve.
7, according to described a kind of method and the described method of claim 2 that improves attitude determination precision of airborne laser radar of claim 1, it is characterized in that it is to set up that the described attitude angle of thinking certain scanning area remains unchanged under the prerequisite of pulse repetition rate far above carrier aircraft platform attitude change frequency of airborne laser radar; Described unique point is the point that house marginal point, road junction etc. have obvious characteristic.
8, according to described a kind of method and the described method of claim 3 that improves attitude determination precision of airborne laser radar of claim 1, it is characterized in that, described unique point at the method for solving of the true coordinate of earth coordinates directions X and Y direction is: at first set two scaling points in scanning area, its coordinate in earth coordinates directions X and Y direction is known; In flight course by the boat camera that carries with machine with certain cycle to the survey region photographic images, with the piece image that wherein comprises these two scaling points is reference picture, determine the position of reference picture in earth coordinates by the known terrestrial coordinate of these two scaling points, then the have a few on this reference picture can be multiply by the camera enlargement factor by itself and the relative position of scaling point in image in the true coordinate of earth coordinates directions X and Y direction and tried to achieve; For other aerial map pictures, can be located by the method for images match in the earth coordinates, in like manner can try to achieve in the scanning area have a few in the true coordinate of earth coordinates directions X and Y direction.
9, according to described a kind of method and the described method of claim 4 that improves attitude determination precision of airborne laser radar of claim 1, it is characterized in that, described aerial map as the overlay area all less than the laser scanning zone, this requires to take several aerial map pictures, and interframe has certain overlapping, by means of the images match of overlapping region, can obtain on the next frame aerial map picture each point in the true coordinate of earth coordinates directions X and Y direction.
10, according to described a kind of method and the described method of claim 5 that improves attitude determination precision of airborne laser radar of claim 1, it is characterized in that, the method for solving of described attitude error is: according to the mapping relations of laser pin point between error of coordinate that terrestrial coordinate is fastened and three attitude errors, two unique points can be set up four equations between the difference of the preliminary correction coordinate of earth coordinates directions X and Y direction and true coordinate and three attitude errors, utilize three equations wherein can try to achieve three attitude errors.
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