CN107621627A - A kind of method and device of airborne lidar measuring instrument unit calibration - Google Patents
A kind of method and device of airborne lidar measuring instrument unit calibration Download PDFInfo
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- CN107621627A CN107621627A CN201710609270.6A CN201710609270A CN107621627A CN 107621627 A CN107621627 A CN 107621627A CN 201710609270 A CN201710609270 A CN 201710609270A CN 107621627 A CN107621627 A CN 107621627A
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Abstract
Embodiments of the invention disclose a kind of method and device of airborne lidar measuring instrument unit calibration, are related to calibration technology, can lift the precision of airborne laser radar system.The method of the airborne lidar measuring instrument unit calibration includes：Ranging flase drop school is carried out to airborne lidar measuring instrument, the ranging flase drop school includes：The correction factor that measure laser ranging additive constant and multiplying constant and intensity are adjusted the distance, wherein, the correction factor adjusted the distance using ranging flase drop school formula measure laser ranging additive constant and multiplying constant and intensity：LQ=LL+K0+K1LL+ Δ L, in formula, LQFor apart from true value；LLFor observation；K0For additive constant；K1For multiplying constant；Δ L is the correction factor that intensity is adjusted the distance；Angle error calibration is carried out to airborne lidar measuring instrument.The present invention is applied to carry out unit verification to airborne lidar measuring instrument.
Description
Technical field
The present invention relates to calibration technology, more particularly to a kind of method and dress of the unit calibration of airborne lidar measuring instrument
Put.
Background technology
Airborne laser radar system because with profile is simple, light quality, the flying platform that can be carried is numerous, and
High scanning density with 70 ° of effective scanning visual field and at most 200K pulse per second, can effectively improve aerial mapping and sweep
Efficiency is retouched, the more mountain region looks in China and the demand of efficient aerophotogrammetric field work can be well adapted for, be widely used, for example,
Power-line patrolling three dimensional data collection, city three-dimensional information modeling, cadastration and monitoring, Water Conservancy Survey, forest and vegetation are examined
Examine etc. it is various efficiently, high precision three-dimensional measurement fields.
Airborne lidar measuring instrument (three-dimensional imaging) in airborne laser radar system is using pulse laser as actively
Probe source, ranging scan is carried out using the characteristics of laser monochromaticjty is good, high directivity, energy are high, light beam is narrow, by receiving mesh
The reflection to laser signal and scatter echo are marked to measure the azimuth-range of target, i.e., continuous impulse letter is sent by laser
Number, continuously rotate to form scanning field of view through turntable, then by optical receiving system after the target reflection in the range of certain distance
Collect, record transmitting-receiving time and the turntable angle of each pulse, so that it is determined that the dimensional orientation of target, forms cloud data, according to
High accuracy three-dimensional target measurement information is obtained according to cloud data, realizes metering and detection.
The precision of airborne laser radar system is not only excited the cores such as photoscanner, camera, POS and inertially stabilized platform
The influence of part precision, it is more dependent upon the accuracy of multisensor Time And Space Parameters and dynamic change model in integrated system.Thus,
Before airborne laser radar system, airborne laser radar system is verified, is allowed to meet the parameter pre-set, is
Lift one of effective means of precision of airborne laser radar system.
The calibration of airborne laser radar system includes：The calibration of airborne lidar measuring instrument unit, the single-lens numerals of SWDC
Unit calibration, POS and the calibration of camera integrated system of aviation measuring camera, POS and laser scanning measurement instrument integrated system calibration etc., mesh
Before, it is also no to propose a kind of effective airborne lidar measuring instrument unit calibration method to lift airborne laser radar system
Precision.
The content of the invention
In view of this, the embodiment of the present invention provides a kind of method and device of airborne lidar measuring instrument unit calibration,
The precision of airborne laser radar system can be lifted.
In a first aspect, the embodiment of the present invention provides a kind of method of airborne lidar measuring instrument unit calibration, including：
Ranging flase drop school is carried out to airborne lidar measuring instrument, the ranging flase drop school includes：Measure laser ranging adds
The correction factor that constant and multiplying constant and intensity are adjusted the distance, wherein, added often using the measure laser ranging of ranging flase drop school formula
The correction factor that number and multiplying constant and intensity are adjusted the distance：
LQ=LL+K0+K1LL+ΔL
In formula,
LQFor apart from true value；
LLFor observation；
K0For additive constant；
K1For multiplying constant；
Δ L is the correction factor that intensity is adjusted the distance；
Angle error calibration is carried out to airborne lidar measuring instrument.
With reference in a first aspect, in the first embodiment of first aspect, it is described apart from true value be total powerstation measure
For lasing central to the distance of index point, the observation is that the index point that airborne lidar measuring instrument measures is sent out to laser
Hit the distance of the heart.
With reference in a first aspect, in second of embodiment of first aspect, the measure laser ranging additive constant and multiply
The correction factor that constant and intensity are adjusted the distance includes：
The lasing central of total powerstation measure is obtained to the distance of index point, is obtained apart from true value；
The index point of airborne lidar measuring instrument measure is obtained to the distance of lasing central, obtains observation；
Using the mark plate pre-set, establish the correction factor look-up table that intensity is adjusted the distance, so as to complete intensity to away from
From correction；
By the multigroup observation data obtained at multiple distances, the correction system to be adjusted the distance apart from true value, observation and intensity
Number look-up table is applied to the ranging flase drop school formula pre-set, using least square fitting, tries to achieve additive constant and multiplying constant.
With reference in a first aspect, in the third embodiment of first aspect, the measure laser ranging additive constant and multiply
The correction factor that constant and intensity are adjusted the distance includes：
Airborne lidar measuring instrument is put on a platform, platform is placed on three foot screws, is led to using long levelling tube
Overregulating three foot screws makes platform keep level；
Two points in scan line are determined with infrared sensitive film at closely place, described two points are led to ground with plumb bob
Face, marked with nail, to ensure that laser scanning line falls on grayscale paper；
By total powerstation frame in rear, and make total powerstation with above two points on one wire；
Instruct (30m-500m) at the different distance pre-set to place gray scale plate using total powerstation, laser is swept to
Gray scale plate；
Mark plate is placed vertically using plumb bob；
At each distance, triggering airborne lidar measuring instrument first scans gray scale plate, in the point cloud chart obtained from scanning
After determining that scan line falls on grayscale paper, triggering total powerstation determines the coordinate of each grayscale paper and the coordinate of laser center respectively；
The coordinate measured using total powerstation solves the oblique distance between grayscale paper and laser center, will solve obtained oblique distance with swashing
The oblique distance value extracted in luminous point cloud is compared.
It is described that airborne lidar measuring instrument is entered with reference in a first aspect, in the 4th kind of embodiment of first aspect
Row angle error calibration includes：
Using the manual turntable of twin shaft digital display, ensureing the manual turntable placement surface of the twin shaft digital display premise parallel with scanning plane
Under, using the angle of the manual turntable output of twin shaft digital display as true value, the angle of airborne lidar measuring instrument output is as observation
Value, the coefficient of correction on angles first and the coefficient of correction on angles second are solved according to the angle error calibration fitting formula pre-set.
With reference to the 4th kind of embodiment of first aspect, in the 5th kind of embodiment of first aspect, the angle measurement misses
Poor calibration fitting formula is：
θQ=θL+K1·θL+K2
In formula,
θQThe angle of the index point measured for turntable；
θLThe angle of the index point measured for airborne lidar measuring instrument；
K1For the coefficient of correction on angles first；
K2For the coefficient of correction on angles second.
It is described that airborne lidar measuring instrument is entered with reference in a first aspect, in the 6th kind of embodiment of first aspect
Row angle error calibration includes：
When being verified, be connected airborne lidar measuring instrument and the manual turntable of twin shaft digital display, and sweeps airborne laser
The tilting mirror center of measuring instrument and the pivot of the manual turntable of twin shaft digital display are retouched in same plumb line；
Using the inclination angle of the long levelling tube regulation manual turntable placement surface of twin shaft digital display to horizontal level；
Airborne lidar measuring instrument is opened, is scanned against the direction pre-set at a distance, while when one section
Between the angle threshold (about 2 °) that pre-sets turntable rotation one, then (about 20 "), continue past stationary scans for a period of time
Same direction rotating table, stop scanning after rotating enough angles；
According to the angle error calibration fitting formula pre-set, the correction on angles of airborne laser scanning measurement instrument is calculated
One coefficient and the coefficient of correction on angles second.
It is described airborne sharp in the 7th kind of embodiment of first aspect with reference to the 6th kind of embodiment of first aspect
The horizontal level deviation of the tilting mirror center of optical scanning measuring instrument and the pivot of the manual turntable of twin shaft digital display is no more than 2cm.
Second aspect, the embodiment of the present invention provide a kind of airborne lidar measuring instrument unit calibration device, including：Ranging
Flase drop school module and angle error calibration module, wherein,
Ranging flase drop school module, for carrying out ranging flase drop school, the ranging flase drop school to airborne lidar measuring instrument
Including：The correction factor that measure laser ranging additive constant and multiplying constant and intensity are adjusted the distance, wherein, it is public using ranging flase drop school
The correction factor that formula determines laser ranging additive constant and multiplying constant and intensity are adjusted the distance：
LQ=LL+K0+K1LL+ΔL
In formula, LQFor apart from true value；
LLFor observation；
K0For additive constant；
K1For multiplying constant；
Δ L is the correction factor that intensity is adjusted the distance；
Angle error calibration module, for carrying out angle error calibration to airborne lidar measuring instrument.
With reference to second aspect, in the first embodiment of second aspect, it is described apart from true value be total powerstation measure
For lasing central to the distance of index point, the observation is that the index point that airborne lidar measuring instrument measures is sent out to laser
Hit the distance of the heart.
The method and device of a kind of airborne lidar measuring instrument unit calibration provided in an embodiment of the present invention, by machine
Carry laser scanning measurement instrument and carry out ranging flase drop school, the ranging flase drop school includes：Determine laser ranging additive constant and multiplying constant
And the correction factor that intensity is adjusted the distance, wherein, using ranging flase drop school formula determine laser ranging additive constant and multiplying constant with
And the correction factor that intensity is adjusted the distance：LQ=LL+K0+K1LL+ Δ L, in formula, LQFor apart from true value；LLFor observation；K0To add often
Number；K1For multiplying constant；Δ L is the correction factor that intensity is adjusted the distance；Angle error calibration is carried out to airborne lidar measuring instrument,
The precision of airborne laser radar system can be lifted.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the method flow schematic diagram of the airborne lidar measuring instrument unit calibration of embodiments of the invention one；
Fig. 2 is the airborne lidar measuring instrument unit calibration device structural representation of embodiments of the invention two.
Embodiment
The embodiment of the present invention is described in detail below in conjunction with the accompanying drawings.
It will be appreciated that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of creative work is not made it is all its
Its embodiment, belongs to the scope of protection of the invention.
Fig. 1 be the airborne lidar measuring instrument unit calibration of embodiments of the invention one method flow schematic diagram, such as Fig. 1
Shown, the method for the present embodiment can include：
Step 101, ranging flase drop school is carried out to airborne lidar measuring instrument；
In the present embodiment, as an alternative embodiment, ranging flase drop school includes：Determine laser ranging additive constant and multiplying constant
And the correction factor that intensity is adjusted the distance, wherein it is possible to utilize following formula, i.e. ranging flase drop school formula measure laser ranging additive constant
The correction factor adjusted the distance with multiplying constant and intensity：
LQ=LL+K0+K1LL+ΔL
In formula,
LQFor in true value, the experiment of the present embodiment, with the lasing central of total powerstation measure to index point away from
From the true value as with a distance from；
LLFor observation, i.e., the distance of the index point that airborne lidar measuring instrument measures to lasing central；
K0For additive constant；
K1For multiplying constant；
Δ L is the correction factor that intensity is adjusted the distance.
In the present embodiment, the distance using the lasing central of total powerstation measure to index point (is surveyed as apart from reference point
Away from value), i.e., it is theoretic apart from true value, with the distance of the index point of airborne lidar measuring instrument measure to lasing central
As observation.
In the present embodiment, as an alternative embodiment, determine laser ranging additive constant and multiplying constant and intensity is adjusted the distance
Correction factor include：
A11, the lasing central of total powerstation measure is obtained to the distance of index point, is obtained apart from true value；
A12, the index point of airborne lidar measuring instrument measure is obtained to the distance of lasing central, is observed
Value；
A13, using the mark plate pre-set, the correction factor look-up table that intensity is adjusted the distance is established, so as to complete intensity
The correction adjusted the distance；
In the present embodiment, by the relation between the intensity level of laser spots on statistical mark plate and corresponding distance, obtain
The correction factor look-up table that intensity is adjusted the distance, as shown in table 1.
The correction factor look-up table that the intensity of table 1 is adjusted the distance
A14, change by the multigroup observation data obtained at multiple distances, apart from what true value, observation and intensity were adjusted the distance
Positive coefficient look-up table is applied to the ranging flase drop school formula pre-set, using least square fitting, tries to achieve additive constant and multiplies often
Number.
In the present embodiment, as another alternative embodiment, determine laser ranging additive constant and multiplying constant and intensity to away from
From correction factor include：
A21, airborne lidar measuring instrument is put on a platform, platform is placed on three foot screws, utilizes long level
Pipe makes platform keep level by adjusting three foot screws；
A22, two points in scan line are determined with infrared sensitive film at closely place, described two points are led to plumb bob
Ground, marked with nail, to ensure that laser scanning line falls on grayscale paper；
In the present embodiment, two infrared sensitive films are vertically arranged on grayscale paper, are determined respectively in two infrared sensitive films
One point.
A23, by total powerstation frame in rear, and make total powerstation with above two points on one wire；
In the present embodiment, make total powerstation on one wire can be by first foot stool dynamic roughly, then micro- with two points above
Total powerstation is moved to realize.
A24, instruct (30m-500m) at the different distance pre-set to place gray scale plate using total powerstation, enable laser
Sweep to gray scale plate；
A25, mark plate is placed vertically using plumb bob；
A26, at each distance, triggering airborne lidar measuring instrument first scans gray scale plate, the point cloud obtained from scanning
After determining that scan line falls on grayscale paper in figure, triggering total powerstation determines the coordinate of each grayscale paper and the seat of laser center respectively
Mark；
A27, the coordinate measured using total powerstation solve the oblique distance between grayscale paper and laser center, the oblique distance that solution is obtained
Compared with the oblique distance value extracted in laser point cloud.
In the present embodiment, using the ranging flase drop school formula being previously mentioned, by disposing instrument respectively at each distance,
Measurement distance, after least square linear fit, obtained additive constant and multiplying constant difference is as follows：
K0=-1.845m；
K1=0.9998.
Step 102, angle error calibration is carried out to airborne lidar measuring instrument.
In the present embodiment, the angle error of airborne lidar measuring instrument refers to the pole of airborne lidar measuring instrument output
The difference of the angle of coordinate and the angle of actual target point therebetween, it is due to the mechanical scanning of airborne lidar measuring instrument
Caused by axle and code-disc eccentric shaft.
In the present embodiment, angle error includes：The coefficient of correction on angles first and the coefficient of correction on angles second.
In the present embodiment, as an alternative embodiment, carrying out angle error calibration to airborne lidar measuring instrument includes：
Using the manual turntable of twin shaft digital display, ensureing the manual turntable placement surface of the twin shaft digital display premise parallel with scanning plane
Under, using the angle of the manual turntable output of twin shaft digital display as true value, the angle of airborne lidar measuring instrument output is as observation
Value, according to following angle error calibration fitting formula, the coefficient of correction on angles first and the coefficient of correction on angles second are solved, is solved
Formula is as follows：
θQ=θL+K1·θL+K2
In formula,
θQThe angle of the index point measured for turntable；
θLThe angle of the index point measured for airborne lidar measuring instrument；
K1For the coefficient of correction on angles first；
K2For the coefficient of correction on angles second.
In the present embodiment, the capital equipment carried out to airborne lidar measuring instrument used in angle error calibration includes：
Air-Lidar airborne lidars measuring instrument, the manual turntable of GT580 type twin shaft digital displays and long levelling tube, wherein, airborne laser
Sweep measuring set is placed in the top of the manual turntable of GT580 type twin shaft digital displays.
In the present embodiment, as another alternative embodiment, angle error calibration bag is carried out to airborne lidar measuring instrument
Include：
A31, when being verified, be connected airborne lidar measuring instrument and the manual turntable of twin shaft digital display, and makes airborne sharp
The tilting mirror center of optical scanning measuring instrument is with the pivot of the manual turntable of twin shaft digital display in same plumb line；
In the present embodiment, as an alternative embodiment, tilting mirror center and the twin shaft digital display hand of airborne lidar measuring instrument
The horizontal level deviation of the pivot of turn platform must not exceed 2cm.
A32, the inclination angle of the manual turntable placement surface of twin shaft digital display is adjusted to horizontal level using long levelling tube；
A33, airborne lidar measuring instrument is opened, be scanned against the direction pre-set at a distance, while every one
The angle threshold (about 2 °) that the section time pre-sets turntable rotation one, then stationary scans for a period of time (about 20 "), after
Continue toward same direction rotating table, stop scanning after rotating enough angles；
A34, according to the angle error calibration fitting formula pre-set, the angle for calculating airborne laser scanning measurement instrument changes
Positive first coefficient and the coefficient of correction on angles second.
In the present embodiment, tilting mirror is four sides tower mirror, it is necessary to individually enter to each face inside airborne lidar measuring instrument
Row angle error calibration, i.e. airborne lidar measuring instrument should have four groups of angular error parameters, as shown in table 2.
The correction on angles coefficient of each scanning plane of airborne lidar measuring instrument of table 2
| Minute surface (°) | K1 | K2 |
| Minute surface 1 (- 45~45) | 0.00007361581059 | 0.003469288963408 |
| Minute surface 2 (45~135) | 0.000105792355839 | -0.013960571918442 |
| Minute surface 3 (135~225) | 0.000103225155132 | -0.029796594067719 |
| Minute surface 4 (225~315) | 0.000076554404564 | -0.035345969705081 |
Fig. 2 is the airborne lidar measuring instrument unit calibration device structural representation of embodiments of the invention two, such as Fig. 2 institutes
Show, the device of the present embodiment can include：Ranging flase drop school module 21 and angle error calibration module 22, wherein,
Ranging flase drop school module 21, for carrying out ranging flase drop school, the ranging flase drop to airborne lidar measuring instrument
School includes：The correction factor that measure laser ranging additive constant and multiplying constant and intensity are adjusted the distance, wherein, utilize ranging flase drop school
The correction factor that formula determines laser ranging additive constant and multiplying constant and intensity are adjusted the distance：
LQ=LL+K0+K1LL+ΔL
In formula, LQFor apart from true value；
LLFor observation；
K0For additive constant；
K1For multiplying constant；
Δ L is the correction factor that intensity is adjusted the distance；
In the present embodiment, the distance apart from the lasing central that true value is total powerstation measure to index point is described
Distance of the observation for the index point that airborne lidar measuring instrument measures to lasing central.
Angle error calibration module 22, for carrying out angle error calibration to airborne lidar measuring instrument.
In the present embodiment, as an alternative embodiment, ranging flase drop school module 21 includes：True value acquiring unit, observation
Acquiring unit, correction factor acquiring unit and additive constant and multiplying constant acquiring unit (not shown), wherein,
True value acquiring unit, the lasing central for obtaining total powerstation measure obtain distance to the distance of index point
True value；
Observation acquiring unit, for obtaining the index point of airborne lidar measuring instrument measure to lasing central
Distance, obtain observation；
Correction factor acquiring unit, for using the mark plate pre-set, establishing the correction factor that intensity is adjusted the distance and looking into
Table is looked for, so as to complete the correction that intensity is adjusted the distance；
Additive constant and multiplying constant acquiring unit, for by the multigroup observation data obtained at multiple distances, apart from true value, see
The correction factor look-up table that measured value and intensity are adjusted the distance is applied to the ranging flase drop school formula pre-set, utilizes least square
Fitting, tries to achieve additive constant and multiplying constant.
In the present embodiment, as another alternative embodiment, ranging flase drop school module 21 includes：Level regulation unit, mark
Unit, gray scale plate setting unit, coordinate acquiring unit and comparing unit, wherein,
Level regulation unit, for airborne lidar measuring instrument to be put in into a platform, platform is placed in three foot screws
On, make platform keep level by adjusting three foot screws using long levelling tube；
Indexing unit, for determining with infrared sensitive film two points in scan line at closely place, by described two points
Ground is led to plumb bob, is marked with nail, to ensure that laser scanning line falls on grayscale paper；By total powerstation frame in rear,
And make total powerstation with above two points on one wire；
Gray scale plate setting unit, for instructing (30m-500m) at the different distance pre-set to place using total powerstation
Gray scale plate, laser is set to sweep to gray scale plate；Mark plate is placed vertically using plumb bob；
Coordinate acquiring unit, at each distance, triggering airborne lidar measuring instrument first scans gray scale plate, from sweeping
After determining that scan line falls on grayscale paper in the point cloud chart for retouching to obtain, triggering total powerstation determine respectively each grayscale paper coordinate and
The coordinate of laser center；
Comparing unit, the coordinate for being measured using total powerstation are solved the oblique distance between grayscale paper and laser center, will solved
Obtained oblique distance is compared with the oblique distance value extracted in laser point cloud.
In the present embodiment, as an alternative embodiment, angle error calibration module 22 is used to manually turn using twin shaft digital display
Platform, on the premise of ensureing that the manual turntable placement surface of twin shaft digital display is parallel with scanning plane, with the manual turntable output of twin shaft digital display
Angle is examined as true value, the angle of airborne lidar measuring instrument output as observation according to the angle error pre-set
School fitting formula solves the coefficient of correction on angles first and the coefficient of correction on angles second.
In the present embodiment, as an alternative embodiment, the angle error calibration fitting formula is：
θQ=θL+K1·θL+K2
In formula,
θQThe angle of the index point measured for turntable；
θLThe angle of the index point measured for airborne lidar measuring instrument；
K1For the coefficient of correction on angles first；
K2For the coefficient of correction on angles second.
In the present embodiment, as another alternative embodiment, angle error calibration module 22 includes：Turntable adjustment unit, incline
Angle adjustment unit, scanning element and correction on angles coefficient acquiring unit (not shown), wherein,
Turntable adjustment unit, turn manually with twin shaft digital display for the airborne lidar measuring instrument that when being verified, is connected
Platform, and make the pivot of the tilting mirror center of airborne lidar measuring instrument and the manual turntable of twin shaft digital display in same plumb line；
Tilt adjustment unit, for the inclination angle using the long levelling tube regulation manual turntable placement surface of twin shaft digital display to horizontal position
Put；
Scanning element, for opening airborne lidar measuring instrument, it is scanned against the direction pre-set at a distance, together
When the angle threshold (about 2 °) that at regular intervals pre-sets turntable rotation one, then stationary scans are for a period of time (about
For 20 "), continue toward same direction rotating table, stop scanning after rotating enough angles；
Correction on angles coefficient acquiring unit, for according to the angle error calibration fitting formula pre-set, calculating airborne
The coefficient of correction on angles first and the coefficient of correction on angles second of laser scanning measurement instrument.
In the present embodiment, as an alternative embodiment, tilting mirror center and the twin shaft number of the airborne lidar measuring instrument
The horizontal level deviation for showing the pivot of manual turntable is no more than 2cm.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation make a distinction with another entity or operation, and not necessarily require or imply and deposited between these entities or operation
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Nonexcludability includes, so that process, method, article or equipment including a series of elements not only will including those
Element, but also the other element including being not expressly set out, or it is this process, method, article or equipment also to include
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Other identical element also be present in process, method, article or equipment including the key element.
Each embodiment in this specification is described by the way of related, identical similar portion between each embodiment
Divide mutually referring to what each embodiment stressed is the difference with other embodiment.
For device embodiment, because it is substantially similar to embodiment of the method, so the comparison of description is simple
Single, the relevent part can refer to the partial explaination of embodiments of method.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system including the system of processor or other can be held from instruction
The system of row system, device or equipment instruction fetch and execute instruction) use, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicate, propagate or pass
Defeated program is for instruction execution system, device or equipment or the dress used with reference to these instruction execution systems, device or equipment
Put.The more specifically example (non-exhaustive list) of computer-readable medium includes following：Electricity with one or more wiring
Connecting portion (electronic installation), portable computer diskette box (magnetic device), random access memory (RAM), read-only storage
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device, and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium, which can even is that, to print the paper of described program thereon or other are suitable
Medium, because can then enter edlin, interpretation or if necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each several part of the present invention can be realized with hardware, software, firmware or combinations thereof.
In the above-described embodiment, multiple steps or method can use storage to be performed in memory and by suitable instruction
The software or firmware that system performs are realized.If for example, being realized with hardware, with another embodiment, can use
Any one of following technology well known in the art or their combination are realized：With for realizing logic work(to data-signal
The discrete logic of the logic gates of energy, there is the application specific integrated circuit of suitable combinational logic gate circuit, programmable gate
Array (PGA), field programmable gate array (FPGA) etc..
Those skilled in the art are appreciated that to realize all or part of step that above-described embodiment method carries
Suddenly it is that by program the hardware of correlation can be instructed to complete, described program can be stored in a kind of computer-readable storage medium
In matter, the program upon execution, including one or a combination set of the step of embodiment of the method.
For convenience of description, it is to be divided into various units/modules with function to describe respectively to describe apparatus above.Certainly, exist
The function of each unit/module can be realized in same or multiple softwares and/or hardware when implementing of the invention.
As seen through the above description of the embodiments, those skilled in the art can be understood that the present invention can
Realized by the mode of software plus required general hardware platform.Based on such understanding, technical scheme essence
On the part that is contributed in other words to prior art can be embodied in the form of software product, the computer software product
It can be stored in storage medium, such as ROM/RAM, magnetic disc, CD, including some instructions are causing a computer equipment
(can be personal computer, server, either network equipment etc.) performs some of each embodiment of the present invention or embodiment
Method described in part.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, the change or replacement that can readily occur in, all should
It is included within the scope of the present invention.Therefore, protection scope of the present invention should be defined by scope of the claims.
Claims (10)
- A kind of 1. method of airborne lidar measuring instrument unit calibration, it is characterised in that including：Ranging flase drop school is carried out to airborne lidar measuring instrument, the ranging flase drop school includes：Determine laser ranging additive constant The correction factor adjusted the distance with multiplying constant and intensity, wherein, using ranging flase drop school formula determine laser ranging additive constant and The correction factor that multiplying constant and intensity are adjusted the distance：LQ=LL+K0+K1LL+ΔLIn formula,LQFor apart from true value；LLFor observation；K0For additive constant；K1For multiplying constant；Δ L is the correction factor that intensity is adjusted the distance；Angle error calibration is carried out to airborne lidar measuring instrument.
- 2. the method for airborne lidar measuring instrument unit calibration according to claim 1, it is characterised in that the distance True value is that the lasing central of total powerstation measure is surveyed to the distance of index point, the observation for airborne lidar measuring instrument Distance of the index point obtained to lasing central.
- 3. the method for airborne lidar measuring instrument unit calibration according to claim 1, it is characterised in that the measure The correction factor that laser ranging additive constant and multiplying constant and intensity are adjusted the distance includes：The lasing central of total powerstation measure is obtained to the distance of index point, is obtained apart from true value；The index point of airborne lidar measuring instrument measure is obtained to the distance of lasing central, obtains observation；Using the mark plate pre-set, the correction factor look-up table that intensity is adjusted the distance is established, is adjusted the distance so as to completing intensity Correction；The multigroup observation data obtained at multiple distances, the correction factor adjusted the distance apart from true value, observation and intensity are looked into Look for table to be applied to the ranging flase drop school formula pre-set, using least square fitting, try to achieve additive constant and multiplying constant.
- 4. the method for airborne lidar measuring instrument unit calibration according to claim 1, it is characterised in that the measure The correction factor that laser ranging additive constant and multiplying constant and intensity are adjusted the distance includes：Airborne lidar measuring instrument is put on a platform, platform is placed on three foot screws, passes through tune using long levelling tube Three foot screws of section make platform keep level；Two points in scan line are determined with infrared sensitive film at closely place, described two points are led into ground with plumb bob, are used Nail marks, to ensure that laser scanning line falls on grayscale paper；By total powerstation frame in rear, and make total powerstation with above two points on one wire；Instruct (30m-500m) at the different distance pre-set to place gray scale plate using total powerstation, laser is swept to gray scale Plate；Mark plate is placed vertically using plumb bob；At each distance, triggering airborne lidar measuring instrument first scans gray scale plate, is determined in the point cloud chart obtained from scanning After scan line falls on grayscale paper, triggering total powerstation determines the coordinate of each grayscale paper and the coordinate of laser center respectively；The coordinate measured using total powerstation solves the oblique distance between grayscale paper and laser center, the oblique distance and laser spots that solution is obtained The oblique distance value extracted in cloud is compared.
- 5. the method for airborne lidar measuring instrument unit calibration according to claim 1, it is characterised in that described to machine Carrying the progress angle error calibration of laser scanning measurement instrument includes：Using the manual turntable of twin shaft digital display, on the premise of ensureing that the manual turntable placement surface of twin shaft digital display is parallel with scanning plane, with The angle of the manual turntable output of twin shaft digital display is as true value, and the angle of airborne lidar measuring instrument output is as observation, root The coefficient of correction on angles first and the coefficient of correction on angles second are solved according to the angle error calibration fitting formula pre-set.
- 6. the method for airborne lidar measuring instrument unit calibration according to claim 5, it is characterised in that the angle measurement Error calibration fitting formula is：θQ=θL+K1·θL+K2In formula,θQThe angle of the index point measured for turntable；θLThe angle of the index point measured for airborne lidar measuring instrument；K1For the coefficient of correction on angles first；K2For the coefficient of correction on angles second.
- 7. the method for airborne lidar measuring instrument unit calibration according to claim 1, it is characterised in that described to machine Carrying the progress angle error calibration of laser scanning measurement instrument includes：When being verified, be connected airborne lidar measuring instrument and the manual turntable of twin shaft digital display, and surveys airborne lidar The tilting mirror center of instrument and the pivot of the manual turntable of twin shaft digital display are measured in same plumb line；Using the inclination angle of the long levelling tube regulation manual turntable placement surface of twin shaft digital display to horizontal level；Airborne lidar measuring instrument is opened, is scanned against the direction pre-set at a distance, while at regular intervals will Turntable rotates an angle threshold pre-set (about 2 °), and then stationary scans (about 20 "), continue toward same for a period of time Direction rotating table, stop scanning after rotating enough angles；According to the angle error calibration fitting formula pre-set, the system of correction on angles first of airborne laser scanning measurement instrument is calculated Number and the coefficient of correction on angles second.
- 8. the method for airborne lidar measuring instrument unit calibration according to claim 7, it is characterised in that described airborne The horizontal level deviation of the tilting mirror center of laser scanning measurement instrument and the pivot of the manual turntable of twin shaft digital display is no more than 2cm.
- A kind of 9. airborne lidar measuring instrument unit calibration device, it is characterised in that including：Ranging flase drop school module and survey Angle error calibration module, wherein,Ranging flase drop school module, for carrying out ranging flase drop school to airborne lidar measuring instrument, the ranging flase drop school includes： The correction factor that measure laser ranging additive constant and multiplying constant and intensity are adjusted the distance, wherein, surveyed using ranging flase drop school formula Determine the correction factor that laser ranging additive constant and multiplying constant and intensity are adjusted the distance：LQ=LL+K0+K1LL+ΔLIn formula, LQFor apart from true value；LLFor observation；K0For additive constant；K1For multiplying constant；Δ L is the correction factor that intensity is adjusted the distance；Angle error calibration module, for carrying out angle error calibration to airborne lidar measuring instrument.
- 10. airborne lidar measuring instrument unit calibration device according to claim 9, it is characterised in that the distance True value is that the lasing central of total powerstation measure is surveyed to the distance of index point, the observation for airborne lidar measuring instrument Distance of the index point obtained to lasing central.
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