CN104049259B - Laser radar 3-D imaging system based on virtual instrument - Google Patents
Laser radar 3-D imaging system based on virtual instrument Download PDFInfo
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- CN104049259B CN104049259B CN201410308788.2A CN201410308788A CN104049259B CN 104049259 B CN104049259 B CN 104049259B CN 201410308788 A CN201410308788 A CN 201410308788A CN 104049259 B CN104049259 B CN 104049259B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
Abstract
A kind of laser radar 3-D imaging system based on virtual instrument, including three-dimensional scenic modeling, the modeling of Lidar pilot systems simulated environment, all-view signal treatment, four functional modules of three-dimensional reconstruction；(1) three-dimensional scenic MBM：Threedimensional model element is loaded into, the basic scene projects such as background colour, viewing angle control, illumination, projection mode, display model are set；(2) Lidar pilot systems simulated environment MBM：Including laser pulse model, atmospheric transfer model, target interaction models, four sub- module modelings of receiving unit model；Laser pulse model is simulated according to the property such as wavelength, pulsewidth, energy of laser to lasing light emitter；Atmospheric transfer model is simulated to the atmospheric environment tested, and generation noise model is acted on laser；Target interaction models are to laser and detection interacting goals simulation, including mirror-reflection, diffusing reflection, surface reflection, speckle；Receiving unit model is used to the noise of detector, the amplifier noise that are produced after analog sensed.
Description
First, technical field
The present invention is the laser radar 3-D imaging system based on virtual instrument, belongs to laser radar detection technical field.
2nd, background technology
Laser radar detection and range-measurement system (Light Detection and Ranging, abbreviation Lidar) are a kind of masters
Dynamic formula remote sensing technology, it breaches traditional passive remote sensing imaging mechanism, influenceed by weather, illumination effect is small, automation journey
The features such as spending high, with unrivaled advantage.
Airborne imaging Lidar passes through IMU alignings, DGPS acquisition device projection centres position, and IMU/DGPS systems are
Refer to synchronous using the GPS in the GPS for filling aboard and one or more base stations for setting on the ground and connect
Gps satellite signal is observed continuously, and the location parameter of aerial surveying camera, application are obtained by gps carrier phase measurement differential position
The high accuracy Inertial Measurement Unit (IMU, Inertial Measurement Uint) being closely connected with aerial surveying camera directly determines boat
The attitude parameter of instrument is taken the photograph, every photo needed for obtaining mapping by the joint post-processing technology of IMU, DGPS data is high-precision to be outside one's consideration
The aerophotogrammetry technology of the element of orientation, by Point Cloud Processing and filtering process, three-dimensional reconstruction DEM.
The multi-door ambits such as laser radar technique combination optics, radar, signal transacting, computer vision, its
Range of application, across sea, land and sky, is that recent domestic is developed rapidly and wide variety of technical field.Laser radar is earliest
Aerospace field is applied to, was gradually available in military affairs later, such as laser guidance, battle reconnaissance, airplane anti-collision, land mine remote sensing
Deng field.At present, laser radar technique be widely used in city digital Model Reconstruction, forest ecology monitoring, marine environment mapping,
The various fields such as geology and geomorphology detection, space exploration.
All-wave laser radar (Full-Waveform Lidar) is to impulse ejection waveform and the backward scattered wave of each pixel
Shape carries out data acquisition and records, and flight time (TOF) and the intensity letter of each pixel can be decomposited on a time shaft
Breath.
The method of laser infrared radar imaging is broadly divided into three kinds：
(1) single detector is used, a pixel is only measured every time.This method is earliest Detection Techniques, by single
Flight time and the strength information of different pixels are measured, the distance and reflectivity of each pixel are recovered one by one.
(2) planar array detector is used, each detectable multiple pixels.Whole target is covered simultaneously by by launching light, is returned
Ripple signal covers the information of multiple pixels, and receiver can draw the distance of different pixels by demodulation, separation.This method
For large spot imaging, more single measurement of pixel number of single measurement is significantly improved.
(3) using APD (snow spring photodiode) detector array, standalone probe multiple pixel.It is divided into N by by light beam
Beam is beaten on N number of point of target respectively, is received by N number of unit of APD array, such that it is able to simultaneously accurately decompose N number of point
Information.The all of pixel of target is scanned by scanner, is ultimately imaged.The process employs highly sensitive APD sensings
Array, relatively above two methods, both can guarantee that high-resolution into figure, hasty map high is can guarantee that again.
Full wave shape echo-signal modeling and simulating is in an important research of Full wave shape Airborne Lidar survey technology with analysis
Hold.The achievement of one actual measurement system generally requires early stage simulation modeling and carries out theoretical validation.On laser radar modeling and simulating side
There were many successfully technological achievements in face, foreign countries, and the country is to this rare systematic research achievement.
(1) Lincoln laboratory is based on the 3D Lidar system emulations of the OPENGL exploitations hidden airborne 3D off the net of leafage
Ladar is tested, and by interpretation of result, the result matching degree of simulation result and measured test is within 20%.
(2) Australian Graham is penetrated based on Matlab to laser radar vegetation under carrying platform different motion track
Experiment is emulated.
(3) Kim in the U.S. obtains Lidar full-wave simulation signals by setting up the Monte Carlo model of laser penetration trees.
By Lidar systems and natural scene, including air, trees and landform finally give 3D models and the reflection of vegetation to this model
Characteristic.
(4) Germany JUTZI is by emulating the all-view signal on different gradient slopes, using the correlation of measurement and estimation ripple come
Determine the gradient of plane.
In existing technological achievement, do not have appearance can overall-in-one control schema Lidar Simulation experiment scene, can be again
Application platform provides hardware module interface, realizes the Lidar 3-D imaging systems of the expanded application of laser radar actual measurement experiment.Base
In LabVIEW Application of Virtual to laser infrared radar imaging field be a kind of brand-new exploitation implementation, will be very big
Convenient system Visualization Platform builds in degree.LabVIEW is that a graphic programming based on G (Graphic) language is soft
Part.It uses GRAPHICAL PROGRAMMING method, using graphic symbolic expression program behavior, man-machine boundary is set up using visualization technique
Face, more intuitively, succinctly.The abundant function library and subprogram that LabVIEW is included, such as data acquisition, signal transacting, I/O drive
It is dynamic to wait program library, while providing multilingual development interface, become the ideal of the applications such as exploitation test, measurement, data acquisition
Instrument.
3rd, the content of the invention
The purpose of the present invention is the emulation examination of the laser radar three-dimensional imaging that complete set is developed based on LabVIEW platform
Check system simultaneously provides the extension that the Lidar based on virtual instrument surveys 3-D imaging system.
A kind of laser radar detection and range-measurement system three-dimensional imaging analogue system based on virtual instrument, including three-dimensional scenic
Modeling, the modeling of Lidar pilot systems simulated environment, all-view signal treatment, four functional modules of three-dimensional reconstruction；The spy of modules
Levy and be described below：
(1) three-dimensional scenic MBM：Read in STL/WRL/ASE that three-dimension developing instrument 3DSMAX, AutoCAD are produced etc.
The three-D elements of form, set the basic scene projects such as background colour, viewing angle control, illumination, projection mode, display model, to reading
What is entered is controlled including landform, vegetation, the scope texture of aircraft, size, position, number, and the wherein position of aircraft is to stress
Light source position, dynamic change in experiment is finally presented airborne Lidar imaging tests dynamic scene, and it is high to export final numeral
Journey model DSM altitude datas, in case follow-up test；
(2) Lidar pilot systems simulated environment MBM：Handed over including laser pulse model, atmospheric transfer model, target
Mutual model, four sub- module modelings of receiving unit model；Laser pulse model according to laser the property such as wavelength, pulsewidth, energy
Lasing light emitter is simulated；Atmospheric transfer model is simulated to the atmospheric environment tested, and generation noise model is carried out to laser
Effect；Target interaction models are to laser and detection interacting goals simulation, including mirror-reflection, diffusing reflection, surface reflection, speckle；
Receiving unit model is used to the noise of detector, the amplifier noise that are produced after analog sensed.Modeled by four model sequences,
The systematic parameters, the all-view signal of each time period target respective pixel point of final output such as depth displacement, temperature, flight angle are set；
(3) all-view signal processing module：The echo-signal produced for each time period carry out treatment recover pixel depth,
Strength information information.The module mainly includes signal enhancing, Wavelet Denoising Method, smooth, four parts of waveform fitting；
(4) three-dimensional reconstruction module：The module is tested for airborne laser radar and provides final visual three-dimensional into figure；Pin
The depth complete to the target of all-view signal processing module offer and strength information, generation Range Profile, intensity image；By segmentation point
Class is divided into non-ground points and the category information of ground point two；Ground point information sets up grid, and triangle division is carried out to ground point, fusion
Strength information, it is final to rebuild generation digital complex demodulation.
Further：(1) the different measure the cycles of aircraft position dynamic change correspondence in, according to APD numbers by laser light splitting,
Cover pixel number with reference to hot spot and obtain a cycle while the pixel number that measures and its echo-signal.
Further：(3) echo-signal search dynamically to each cycle, sampling characteristic point, specific aim treatment are realized
Signal enhancing, Wavelet Denoising Method, the smooth, integrated function of waveform fitting；In order to obtain certainty of measurement higher, waveform fitting mould
Root tuber sets fitting template according to the actual waveform of laser pulse.
Further：Main development platform based on LabVIEW, opens with reference to the mixing of LabWindows/CVI, Matlab, C++
Hair pattern, each function sub-modules (sub- VI) are called according to inheritance by father's module (father VI), are finally integrated into the master of the superiors
Gui interface；The visual simulating that complete laser radar three-dimensional imaging is presented by performing total GUI is tested.
The solution that a kind of Lidar based on virtual instrument surveys imaging system is proposed, TCP, serial ports has been reserved and has been led to
Letter interface, measured data is loaded by collector, completes the function of Lidar eyeball clouds data three-dimensional imaging.
The platform dexterously loads functionality controls using the advantage of LabVIEW graphic languages programming using three-dimensional, and structure can
Adjust laser radar experiment scene；To Lidar pilot system simulated environment, including the interaction of laser, air, target, receiving unit
Comprehensive simulated is carried out, implements l-G simulation test generation all-view signal；The all-view signal processing method of set of system is built, all-wave is believed
Number treatment resolve a picture dot point cloud information；Three-dimensional reconstruction functional realiey module is to cloud data classified filtering, final three-dimensional reconstruction
DEM。
Beneficial effects of the present invention：Virtual instrument framework：It is hard that virtual instrument technique provides abundant high-performance modularization
Part interface, its Software tool LabVIEW provide pattern development platform, while be integrated with including data acquisition, signal transacting,
The abundant algorithms library such as image procossing, substantially reduces the construction cycle, while having very strong scalability, realizes software and hardware
Seamless integration-.Traditional upper imaging system of laser infrared radar imaging system is almost all based on the platforms such as Matlab, VC, is realizing
Advantage is not obvious in measurement experiment.And it is very rare that virtual instrument is applied into laser infrared radar imaging field, and have the Lidar can
Depending on chemical conversion picture, while having complete echo signal processing, the system of imaging integrated treatment to never have appearance.
Three-dimensional visualization dynamic test scene construction：Control is loaded using LabVIEW tri-dimensional pictures, there is provided to professional cartography
The threedimensional model component format of instrument generation is loaded, and by three-dimensional model deformation, Lidar emulation examinations are built in the control such as texture
Test Visual Scene.Whole l-G simulation test is based on LabVIEW platform, can combine LabWindows/CVI, VC++, Matlab etc. many
Too development is planted, with reference to the three-dimension developing instrument such as 3DSMAX, AutoCAD, Pro/E, SolidWorks, VRMLPAD, by inhomogeneity
Type 3D Unified Models simultaneously set up Lidar experiment scenes, and feature-rich, autgmentability is strong, effect of visualization is good, complete and be in intuitively
The experiment of all-wave laser radar three-dimensional imaging is showed and there is provided functional verification.Meanwhile, system provides the upper of actual measurement system
Interface, the solution of extension is provided to measured test three-dimensional imaging.
4th, illustrate
Fig. 1 is the structured flowchart of the imaging Lidar emulation platforms based on virtual instrument；
Fig. 2 is that three-dimensional scenic module realizes three-dimensional modeling flow chart；
Fig. 3 is the flow chart that analogue system is set up；
Fig. 4 is the flow chart of data processing figure of all-view signal processing module；
Fig. 5 is three-dimensional reconstruction module flow chart；
Fig. 6 is all-wave sampled signal waveform figure；
Fig. 7 is the imaging Lidar simulation softwares operational flowchart based on LabVIEW；
Fig. 8 is the main gui interface of the imaging Lidar simulation softwares based on LabVIEW；
Fig. 9 is three-dimensional scenic module modeling effect diagram；
Figure 10 is that the final three-dimensional reconstruction module of Lidar l-G simulation tests rebuilds DEM；
5th, specific embodiment
Implementer's case of the invention is described in detail below in conjunction with the accompanying drawings.
As shown in figure 1, the invention mainly comprises four functional modules：Three-dimensional scenic modeling, Lidar pilot systems emulation ring
Border modeling, all-view signal treatment, three-dimensional reconstruction.Wherein three-dimensional scenic MBM can load the 3D moulds of 3D mapping softwares output
Type element, and it is laid out, adjust, it is allowed to the experiment scene needed for producing.The establishment mode of 3D model elements is abundant
Flexibly.For example, the model element of landform can be used the topography and geomorphology plug-in unit terrian plug-in units in 3dsmax, by connecting GIS
The real figure landform of longitude and latitude is specified in generation；Vegetation model can utilize the tree plug-in unit construction of making of 3dsmax to specify vegetation group；Fly
Machine model can be designed in AutoCAD according in size requirement.
Shown in Fig. 2 is that three-dimensional scenic is built, and the 3D model files of 3D mapping softwares output can be loaded, by calling scene net
Lattice node can obtain the implementation of vertical array mould module.It is several that LabVIEW provides tri- kinds of conventional three-dimensionals of VRML, STL, ASE
The information such as what model loading method, color array, texture coordinate, are adjusted by setting up geometrical model, addition object, setting texture etc.
Different types of 3D model buildings three-dimensional scenic is merged with nodal function.Meanwhile, LabVIEW provides abundant scenery control side
Method, the basic setup such as including background colour, light source, viewing angle control device, automatic projection mode, display pattern, and scene are scaled, put down
The deformation control function such as shifting, rotation.By merging these functionality controls in foreground interface, three-dimensional scenic cloth can be flexibly controlled
Office, the emulation experiment scene needed for final presentation, and the digital elevation information of scene is exported, used as target simulator experiment.
It is highly 2km that aircraft flight is set in embodiment, and APD numbers are 8 array elements, and laser frequency is 10kHz, and atural object hot spot footprint is covered
8 pixel information.Control is circulated by for and controls aircraft dynamic linear array scanning, single sweep operation time correspondence real time
0.1ms。
Fig. 3 gives Lidar pilot systems simulated environment modeling embodiment, and the program is according to existing Laser beam energy distribution
Formula, the modeling of propagation in atmosphere formula.Lidar test simulation environment needs to interact laser pulse model, atmospheric transfer model, target
Model, receiving unit model are modeled.The content of laser pulse modeling is the structure to Laser Time distribution, irradiance distribution,
|input paramete includes wavelength, half pulsewidth, the angle of divergence, laser energy, operating distance, the frequency of laser.The purpose of atmospheric transfer model
Be simulation beam broadening, atmospheric turbulance, the influence of atmospheric attenuation, act on laser pulse, |input paramete include spectral irradiance,
Turbulence intensity, visibility distance, luminance factor.The purpose of target interaction models is that simulated laser pulse is produced with when detecting interacting goals
Raw mirror-reflection, diffusing reflection, surface reflection, the influence of speckle, |input paramete include specular reflection factor, the diffusing reflection factor,
Instantaneous ramp rate.Receiving unit model be want simulated laser act on target back echo signal by reception device be subject to detector,
The influence of noise of amplifier, the parameter of input includes iris radius, instantaneous field of view, bandwidth, optical transport, responsiveness, focal length, dark face
Electric current, phaeodium electric current, excess noise fact, detector internal gain, average background reflection, optical filter bandwidth, detector electricity
Capacitance, detector and amplifier total magnification.The relevant parameter of whole system model has depth displacement, temperature, flight angle, mesh
Mark reflectivity, each module of activation system simulation model, order is performed and produces Lidar Simulation echo waveform.In embodiment, (1)
Laser pulse time is propagatedIrradiance distribution(2) atmospheric transfer model
Including beam-broadening, atmospheric turbulance, energy attenuation：1. beam-broadening is regular：
Wherein CnFor the structural constant of atmospheric turbulance, λ are that optical maser wavelength, R are target
Object distance；2. atmospheric turbulance is regular：Atmospheric scinillation probability density function is
WhereinFor target it is average after
Effective turbulent wave momentum,Wherein reff=min (rtarget,ω,υfov/ 2R) it is effective light spot radius
(rtargetIt is the geometric radius of target, ω is radius of the laser at target, υfov/ 2R is the visual target of receiver half
Footpath), ρlIt is (one-dimensional) effectively turbulent flow radius, by atmosphere structure coefficient Cn, target range R, laser wavelength lambda and laser beam divergence φ
Determine；3. energy attenuation is regular：R is operating distance, σaerIt is decay factor；(3) target interaction models
Including mirror-reflection, irreflexive influence, it is expressed as：A and B are mirrors
Face is reflected and irreflexive association factor；(4) receiving unit model is built according to the noise equivalent power of detector and amplifier
Mould：Wherein ecIt is electron charge, B is bandwidth (Hz), IdsIt is table
Face dark current (A), IdbIt is dark current (A), IbElectric current (A) produced by ambient noise, IsIt is signal code (A) that M is detection
Device internal gain, F is excess noise factor,It is the response of detector.
Fig. 4 is the all-view signal processing module of laser infrared radar imaging system.The functional realiey process of the module is：All-wave is believed
Number by specify sample rate obtain all-wave sampled data, signal enhancing, such as threshold value enhancing, LPF, pulse are carried out to the signal
The methods such as accumulation.Embodiment sets sample rate as 1GSPS, and single-pulse laser pulsewidth is 10ns, and frequency is 10kHz.For model
The echo data of generation carries out taking out value sampling according to 10 sampled points of pulse, finally gives actual emulation all-wave sampling ripple
Shape, as shown in Figure 7.Noise pretreatment is carried out by LPF, then takes 8 noise samples of APD echo-signals, carry out region
Accumulation, y ' (i)=Σnan·yn(i), ynI () represents input sample signal, anExpression weight, the signal to noise ratio of correspondence each group signal,
N is sample number.
The Ethernet host computer based on LabVIEW realizes the input of actual measurement sampled data in embodiment.Implementation：Call
" opening TCP connections " function of labview, is input into server ip address, and port address is started by three-way handshake command communication
Data transfer, completes the upper bit function of laser all-wave sampled data.The echo data position actual measurement laser all-wave sampling for now obtaining
Signal.
Noise pretreatment, smoothing processing are carried out to all-wave sample waveform.Embodiment uses wavelet de-noising processing method.Small echo
Noise reduction has good time-frequency characteristic, selects base flexibly, can be directed to the details letters such as each edge, the spike of ground treatment non-stationary signal
Breath.LabVIEW small echo kits are called in embodiment, select " Advanced Signal Processing Toolkit →
Wavelet Analysis → Feature Extraction → Wavelet Denoise " are to call Wavelet Denoising Method function.It is optional
Fixed suitable de-noising level, threshold value selection rule and wavelet basis, are processed input signal.De-noising level is typically chosen 4-5 grades,
Threshold value selects common several soft-thresholds, such as unbiased evaluation of risk threshold value (rigrsure), inspiration threshold value (heursure) and pole
Big minimum three kinds of threshold value (minimaxi), wavelet basis is mainly tetra- kinds of sym, db, bior, coif.According to actual effect, using 5
Level, rigrsure, tri- parameters of sym8 can reach ideal effect.Smoothing algorithm is used to signal deburring, embodiment party
The method of moving average, 5 points 3 smoothing algorithms, vondrak algorithms are can select in case.Wherein vondrak algorithms smooth effect is most
It is good, burr can be effectively filtered out, while can well ensure the integrality of signal again.Vondrak exponential smoothings are Czech's astronomy
Family Vondrak is proposed, it is adaptable to be suitable for the smoothing algorithm of unequal interval again at equal intervals., its substantially smooth criterion is：Q=F
+λ2S=min, whereinx(ti) it is to treat smooth value.
Peak value, flex point detection in order to determine waveform decompose number and nonlinear fitting initialized location and peak value, this
It is preceding to need to delete the wrong point of erroneous judgement, and threshold value is calculated as fitting constant.Implementation：For peak value, first derivative=0 is searched for；
For rising edge flex point：First derivative>0, second dervative=0, three order derivatives<0；For trailing edge flex point：First derivative<0, two
Order derivative=0, three order derivatives>0.Nonlinear fitting is the core algorithm that waveform is decomposed, and method is relatively more, such as Levenberg-
Marquardt nonlinear fittings, LabVIEW can be directly invoked there is provided the functionality controls.Existing approximating method is used
Gauss curve fitting, i.e.,Can there is certain error for laser pulse fitting.Actual Laser Time point
Cloth is：WhereinT1/2Represent half-wavelength.Therefore, use
Template is fitted as LM, the goodness of fit can be significantly improved, reduce error of fitting.Decomposed by waveform and obtain respective pixel
TOF (flight time), strength information." nonlinear fitting of belt restraining " function in LabVIEW is called in embodiment, " LM is selected
Boundary " pattern, setting fitting template because using 10ns pulse width laser pulses, therefore sets initialization condition according to above-mentioned formA (3i+1)=peak -2a (3i+2), a (3i)=peak amplitude -4e-2, calculated using LM iteration
Method, output cycle-index, best fit parameters.According to formulaDigital simulation goodness.
Under the input of suitable primary condition, the goodness of fit can reach more than 0.999, can be used as final waveform decomposition result.To dividing
Each wavelet of solution, its time delay is the elevation information of corresponding pixel points, and its amplitude is the strength information of corresponding pixel points.
Fig. 5 is the three-dimensional reconstruction module of Lidar imaging systems.The implementation procedure of the module is：Decomposed using cloud data
Elevation information and strength information generate the two-dimensional image of target, such as Range Profile, intensity image；By the segmentation to pixel, classification,
Filtering obtains non-ground points and ground point.Three-dimensional coordinate is set up, grid is generated, to coordinate point cloud triangulation, depth is merged
Picture and intensity image, finally give digital elevation model.
Fig. 6 is the operating process of the laser radar 3-D imaging system based on LabVIEW, its corresponding User Interface
(GUI) as shown in Figure 7.
The first step：After starting software platform, carry out initial configuration to three-dimensional scenic basic parameter, loading landform, vegetation,
The threedimensional model of aircraft, the situation elements to generating carry out the control such as size, position, texture, and comprehensive layout ultimately generates and is in
Existing Lidar three-dimensional scenics.
Second step：Laser model parameter, Atmospheric models parameter, detector model parameter, global parameter, for generation are set
Scenario triggered is tested, and obtains and present all-view signal.
3rd step：Triggering all-view signal treatment, real-time resolving goes out the pixel depth information of each time cycle, and refreshes aobvious
Show, can trigger archives data.
4th step：Trigger point cloud three-dimensional reconstruction, generates DEM and circle of equal altitudes, its presentation window shape formula can be set and shows, and can be right
Picture archiving.
Test effect such as Fig. 8 that GUI platform based on Fig. 7 is produced, shown in Fig. 9.Fig. 8 is three-dimensional scenic module structure in Fig. 7
The presentation window of the Lidar l-G simulation test scenes built, Fig. 9 is the three-dimensional DEM figures and circle of equal altitudes of three-dimensional reconstruction module generation.
The above is embodiments of the invention, is not intended to limit the present invention, all in thought of the invention and spirit
Any modification, equivalent or invalid insertion for being made etc., should be included within protection scope of the present invention.
Claims (6)
1. a kind of laser radar 3-D imaging system based on virtual instrument, it is characterized in that including three-dimensional scenic modeling, Lidar examinations
The modeling of check system simulated environment, all-view signal treatment, four functional modules of three-dimensional reconstruction；
(1) three-dimensional scenic MBM：Threedimensional model element is loaded into, background colour, viewing angle control, illumination, projection mode, aobvious is set
Representation model basic scene project, controls to what is read in including landform, vegetation, the scope texture of aircraft, size, position, number
The position correspondence laser source position of system, wherein aircraft, dynamic change in experiment is finally presented airborne Lidar imaging tests dynamic
Scene, and final DSM surface elevation datas are exported, in case follow-up test；
(2) Lidar pilot systems simulated environment MBM：Including laser pulse model, atmospheric transfer model, target interaction mould
Type, four sub- module modelings of receiving unit model；Laser pulse model is according to wavelength, pulsewidth, the energy properties of laser to laser
Source is simulated；Atmospheric transfer model is simulated to the atmospheric environment tested, and generation noise model is acted on laser；Mesh
Mark interaction models are to laser and detection interacting goals simulation, including surface reflection, speckle；Receiving unit model is used to analog sensed
Noise of detector, the amplifier noise for producing afterwards；Modeled by four model sequences, depth displacement, temperature, flight angle are set
Systematic parameter, the all-view signal of each time period target respective pixel point of final output；
(3) all-view signal processing module：The echo-signal produced for each time period is processed, and recovers pixel depth, strong
Degree information；The module mainly includes signal enhancing, denoising, smooth, four parts of decomposition；
(4) three-dimensional reconstruction module：The module is tested for airborne laser radar and provides final visual three-dimensional into figure；For complete
The complete depth of target and strength information that ripple signal processing module is provided, generation Range Profile, intensity image；Drawn by segmentation and classification
It is divided into non-ground points and the category information of ground point two；Ground point information sets up grid, and triangle division, aggregation strength are carried out to ground point
Information, it is final to rebuild generation digital complex demodulation.
2. the laser radar 3-D imaging system based on virtual instrument according to claim 1, it is characterized in that three-dimensional scenic
The different measure the cycles of aircraft position dynamic change correspondence in MBM, according to APD numbers by laser light splitting, cover with reference to hot spot
Lid pixel number obtains a cycle while the pixel number that measures and its echo-signal.
3. the laser radar 3-D imaging system based on virtual instrument according to claim 1, it is characterized in that all-view signal
Echo-signal search, sampling characteristic point in processing module dynamically to each cycle, specific aim treatment realize that signal increases
By force, denoising, the smooth, integrated function of waveform fitting；In order to obtain certainty of measurement higher, waveform fitting module is according to laser
The actual waveform of pulse sets fitting template.
4. the laser radar 3-D imaging system based on virtual instrument according to claim 1 or 3, it is characterized in that reserved
TCP, serial communication interface, measured data is loaded by collector, completes the function of Lidar eyeball clouds data three-dimensional imaging.
5. the laser radar 3-D imaging system based on virtual instrument according to claim 1 or 3, it is characterized in that imaging system
The all-view signal processing modules implement process of system is：All-view signal is pressed and specifies sample rate to obtain all-wave sampled data, to the signal
Signal enhancing is carried out, threshold value enhancing, bandpass filtering, pulse accumulation method, noise reduction module process each edge, spike details for ground
Information;Smoothing algorithm smooths deburring to denoised signal, while ensureing the integrality of signal characteristic；Peak value, flex point detection determine
Number and the initialized location and peak value of nonlinear fitting that waveform is decomposed, based on Levenberg-Marquardt Nonlinear Quasis
Hop algorithm, template is fitted using practical laser impulse waveform as LM, hence it is evident that improve the goodness of fit, reduces error of fitting；By ripple
Shape decomposes depth information, the strength information for obtaining respective pixel.
6. the laser radar 3-D imaging system based on virtual instrument according to claim 1 or 3, it is characterized in that being based on
The main development platform of LabVIEW, using the mixed developing pattern of LabWindows/CVI, Matlab, C++ of ActiveX technologies,
Build user mutual function of tonic chord interface；The visual simulating that complete laser radar three-dimensional imaging is presented by performing main GUI is tried
Test, it is final three-dimensional into figure；Operating process is：
The first step：After starting software platform, initial configuration, loading landform, vegetation, aircraft are carried out to three-dimensional scenic basic parameter
Threedimensional model, the situation elements to generating carry out size, position, texture control, and comprehensive layout ultimately generates and present
Lidar three-dimensional scenics；
Second step：Laser model parameter, Atmospheric models parameter, detector model parameter, global parameter, for generation scene are set
Triggering experiment, obtains and presents all-view signal；
3rd step：Triggering all-view signal treatment, real-time resolving goes out the pixel depth information of each time cycle, and refreshes display,
Trigger data is achieved；
4th step：Trigger point cloud three-dimensional reconstruction, generates DEM and circle of equal altitudes, sets it and window display format is presented, to picture archiving.
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