CN107621628A - One kind placement angle error calibration method - Google Patents

One kind placement angle error calibration method Download PDF

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Publication number
CN107621628A
CN107621628A CN201710614994.XA CN201710614994A CN107621628A CN 107621628 A CN107621628 A CN 107621628A CN 201710614994 A CN201710614994 A CN 201710614994A CN 107621628 A CN107621628 A CN 107621628A
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China
Prior art keywords
angle
calibration
setting
course
placement
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CN201710614994.XA
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Chinese (zh)
Inventor
李军杰
王超
王丽媛
杨春
邱士可
张鹏飞
杨保
杜军
马玉凤
郝利民
宋立生
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Beijing Geo Vision Tech Co ltd
Institute Of Geographical Sciences Henan Academy Of Sciences
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Beijing Geo Vision Tech Co ltd
Institute Of Geographical Sciences Henan Academy Of Sciences
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Priority to CN201710614994.XA priority Critical patent/CN107621628A/en
Publication of CN107621628A publication Critical patent/CN107621628A/en
Pending legal-status Critical Current

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Abstract

Embodiments of the invention disclose a kind of placement angle error calibration method, are related to calibration technology, can lift the precision of airborne laser radar system.Including:Placement angle error calibration field is set, and disposing angle error calibration field to have, place shape is flat, has a large amount of tall and big " herringbone " factory building and straight highways and beneficial to flight;The placement angle error calibration field course line for the calibration condition for meeting to pre-set is set;In placement angle error calibration field, according to placement angle error calibration field course line, using first carrying out after sidewindering angle of setting calibration, a cloud is recalculated, after a cloud is recalculated, then carries out pitching angle of setting calibration, after pitching angle of setting calibration is carried out, a cloud is recalculated again, after a cloud is recalculated again, finally carries out the calibration order of course angle of setting calibration;Placement angle error calibration parameter that course angle of setting calibration obtains is carried out applied to the correction program pre-set to realize the correction to a cloud by last.The present invention is applied to calibration placement angle error.

Description

One kind placement angle error calibration method
Technical field
The present invention relates to calibration technology, more particularly to a kind of placement angle error calibration method.
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 after the calibration and the system integration of each part, wherein, even if Calibration was carried out to each part for forming airborne laser radar system and has reached the required precision met, in whole system After integrated, because each part (sensor) can produce new error after system is integrated into, mainly include eccentric throw error, peace Angle setting error, coordinate conversion error, time synchronization error etc., wherein, laser scanning reference frame and IMU Inertial Measurement Units Between placement angle error be maximum Systematic error sources, placement angle error is by the point cloud of the building caused in adjacent two air strips And it is misaligned, if without disposing angle error calibration, after classification extraction is carried out to a cloud, placement angle error can be incorporated into finally In cloud data, thus, for airborne laser radar measuring system, if can not without the calibration after the system integration Obtain gratifying measurement accuracy.
At present, also angle error calibration method is effectively disposed to lift the essence of airborne laser radar system without proposition is a kind of Degree.
The content of the invention
In view of this, the embodiment of the present invention provides a kind of placement angle error calibration method, can lift airborne laser radar The precision of system.
In a first aspect, the embodiment of the present invention provides a kind of placement angle error calibration method, including:
Placement angle error calibration field is set, and the placement angle error calibration field has that place shape is flat, there have to be a large amount of tall and big " herringbone " factory building and straight highway and beneficial to flight;
Placement angle error calibration field course line is set, and the placement angle error calibration field course line meets the calibration bar pre-set Part;
In the placement angle error calibration field, according to the placement angle error calibration field course line, using first carrying out sidewindering peace Angle setting calibration, after carrying out sidewindering angle of setting calibration, a cloud is recalculated, after a cloud is recalculated, then carry out pitching placement Angle calibration, after pitching angle of setting calibration is carried out, a cloud is recalculated again, after a cloud is recalculated again, is finally carried out The calibration order of course angle of setting calibration;
The placement angle error calibration parameter that the last progress course angle of setting calibration obtains is applied to what is pre-set Program is corrected to realize the correction to a cloud.
With reference in a first aspect, in the first embodiment of first aspect, the calibration condition includes:
When I, sidewinder angle of setting calibration, two course lines that overlapping flight is come and gone perpendicular to straight highway are designed;
When II, progress pitching angle of setting calibration, two opposite overlapping course lines of design direction, course-and-bearing is perpendicular to " people Font " house ridge line, through house top;
III, sidewinder angle of setting calibration with carrying out the calibration of pitching angle of setting be shuttle flight, selects straight public affairs as far as possible The trend on road merges flight parallel to the calibration field of ridge line;
IV, two parallel course lines, one passes through pinnacle house, and perpendicular to ridge line, a course line is parallel to wearing in addition The course line in pinnacle house is crossed, and the pinnacle house can be completely covered in the point cloud scanned.
With reference to the first embodiment of first aspect, in second of embodiment of first aspect, the calibration bar Part also includes:
The higher enroute altitude of design.
With reference to first aspect, first aspect the first into the third any embodiment, the of first aspect In three kinds of embodiments, the placement angle error calibration includes:Sidewinder angle of setting calibration, the calibration of pitching angle of setting and course peace Angle setting calibration.
It is described to sidewinder peace in the 4th kind of embodiment of first aspect with reference to the third embodiment of first aspect Angle setting calibration includes:
It will be perpendicular to straight highway and come and go the cloud data that two course lines of overlapping flight obtain to import the inspection pre-set School software;
A section is cut, cuts trend of the direction requirement of section along straight highway, the section cut is two phases The straight line of friendship, sidewinder half of the angle of setting angle of setting for two included angle of straight line;
Two straight lines are fitted, directly measure the angle of two straight lines;
Angle parameter according to measuring is corrected cloud data, is determined to sidewinder placement angular dimensions according to the effect of correction It is positive and negative;
Repeatedly cut, obtain one group and sidewinder placement angular dimensions, according to the principle of least square, finally try to achieve and sidewinder placement Angle calibration value.
With reference to the 4th kind of embodiment of first aspect, in the 5th kind of embodiment of first aspect, following formula meter is utilized Angle of setting is sidewindered described in calculation:
In formula,
Δ r is to sidewinder angle of setting;
zL-zRFor the depth displacement of the same scan line leftmost side and the rightmost side;
H is flying height;
θmaxFor maximum scan angle.
It is described to be bowed in the 6th kind of embodiment of first aspect with reference to the third embodiment of first aspect Facing upward angle of setting calibration includes:
Extraction sidewinder the cloud data of angle of setting correction;
By course line display point cloud in calibration software, only display is perpendicular to two overlapping course lines of ridge line shuttle flight Point cloud is analyzed;
Along perpendicular to ridge line direction cut multiple sections (consider the depth of roof slope, section depth is generally 1~ 2m), if it find that two roof apex are offset along heading, the displacement using the horizontal displacement as ridge line, i.e. pinnacle The horizontal offset of same place, directly measures offset on TerraScan on room;
The pitching angle of setting calculation formula that the offset measured is applied to pre-set, obtains pitching angle of setting;
Multiple sections are intercepted, also according to the principle of least square, finally try to achieve pitching placement angular dimensions.
With reference to the 6th kind of embodiment of first aspect, in the 7th kind of embodiment of first aspect, following formula meter is utilized Calculate the pitching angle of setting:
Δ p=D1/(2H)
In formula,
ΔpFor pitching angle of setting;
D1For the horizontal offset of same place on the room of pinnacle;
H is average flying height.
It is described to be navigated in the 8th kind of embodiment of first aspect with reference to the third embodiment of first aspect Include to angle of setting calibration:
Calibration is complete sidewinder angle of setting and pitching angle of setting on the basis of, only show two parallel course lines (AB and DC) point Cloud data;
Vertical ridge line direction cuts multiple sections in ridge middle (depth is also 1~2m);
The existing obvious displacement in the horizontal direction of ridge line summit is searched, it is flat at two using the displacement as roof characteristics o'clock The horizontal displacement along ridge line vertical direction in row course line;
Average distance between two parallel course lines is directly measured by calibration software;
The course angle of setting calculation formula that the horizontal displacement and the average distance are applied to pre-set, draws one Group course angle of setting simultaneously determines positive and negative, reuses the principle of least square and tries to achieve course angle of setting.
With reference to the 8th kind of embodiment of first aspect, in the 9th kind of embodiment of first aspect, drawn described One group of course angle of setting and determine it is positive and negative and then it is secondary try to achieve course angle of setting using the principle of least square before, methods described Also include:
A cloud coordinate is corrected according to the course angle of setting for determining positive and negative, if degree of overlapping is preferable, without carrying out again Calibration;Otherwise need to continue calibration, untill overlapping air strips point cloud is completely overlapped, then performs and reuse least square original The step of reason tries to achieve course angle of setting.
A kind of placement angle error calibration method provided in an embodiment of the present invention, angle error calibration field, institute are disposed by setting Stating placement angle error calibration field has that place shape is flat, has a large amount of tall and big " herringbone " factory buildings and straight highway and beneficial to flying OK;Placement angle error calibration field course line is set, and the placement angle error calibration field course line meets the calibration condition pre-set; The placement angle error calibration field, according to the placement angle error calibration field course line, using first carrying out sidewindering angle of setting calibration, Carry out after sidewindering angle of setting calibration, recalculate a cloud, after a cloud is recalculated, then carry out pitching angle of setting calibration, entering After row pitching angle of setting calibration, a cloud is recalculated again, after a cloud is recalculated again, finally carries out course angle of setting inspection The calibration order in school;The placement angle error calibration parameter that the last progress course angle of setting calibration obtains is applied to set in advance The correction program put can lift the precision of airborne laser radar system to realize the correction to a cloud.
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 that embodiments of the invention one dispose angle error calibration method schematic flow sheet;
Fig. 2 is the line of flight schematic diagram of embodiments of the invention two;
Fig. 3 is that embodiments of the invention three sidewinder influence schematic diagram of the angle of setting to laser footpoint;
Fig. 4 is influence schematic diagram of the pitching angle of setting of embodiments of the invention four to laser footpoint position;
Fig. 5 is that the course of embodiments of the invention five disposes angle point cloud schematic diagram.
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 is that embodiments of the invention one dispose angle error calibration method schematic flow sheet, as shown in figure 1, the present embodiment Method can include:
Step 101, placement angle error calibration field is set, and the placement angle error calibration field has that place shape is flat, there have to be big Measure tall and big " herringbone " factory building and straight highway and beneficial to flight;
In the present embodiment, as an alternative embodiment, the selection of placement angle error calibration field is in the industry of Pingdingshan City Xincheng District Garden, the calibration field landform is flat, and for height above sea level in 90m or so, there are substantial amounts of " herringbone " factory building and straight highway in industrial park.Work Factory building in industry garden is taller and bigger, can improve placement angle error calibration precision.In addition, industrial park is without large mass of water, nothing High-intensity magnetic field, weather condition is good, is advantageous to calibration flight.
Step 102, placement angle error calibration field course line is set, and the placement angle error calibration field course line meets to pre-set Calibration condition;
In the present embodiment, as an alternative embodiment, calibration condition includes:
When I, sidewinder angle of setting calibration, two course lines that overlapping flight is come and gone perpendicular to straight highway are designed;
When II, progress pitching angle of setting calibration, two opposite overlapping course lines of design direction, course-and-bearing is perpendicular to " people Font " house ridge line, through house top;
III, sidewinder angle of setting calibration with carrying out the calibration of pitching angle of setting be shuttle flight, selects straight public affairs as far as possible The trend on road merges flight parallel to the calibration field of ridge line;
IV, two parallel course lines, one passes through pinnacle house, and perpendicular to ridge line, a course line is parallel to wearing in addition The course line in pinnacle house is crossed, and the pinnacle house can be completely covered in the point cloud scanned.
In the present embodiment, as an alternative embodiment, the placement angle error calibration field course line also meets:
The higher enroute altitude of design.
In the present embodiment, enroute altitude is theoretically higher, and calibration precision is better, should try one's best during design and improve course line height Degree, for example, the enroute altitude of design is higher than an enroute altitude threshold value pre-set.
In the present embodiment, according to design requirement and on-the-spot investigation is combined, there is that road is parallel with house ridge line, straight highway Trend it is parallel with the ridge line in " herringbone " house, thus, when designing course line, it is possible to reduce course line, angle of setting will be sidewindered Flown in the lump with pitching angle of setting, it is only necessary to a parallel course line in addition, substantially increase calibration efficiency, save flight cost.
Fig. 2 is the line of flight schematic diagram of embodiments of the invention two.As shown in Fig. 2 wherein, I and II share a course line AB, II and III can share a course line CD.
Step 103, it is advanced according to the placement angle error calibration field course line, use in the placement angle error calibration field Row sidewinders angle of setting calibration, after carrying out sidewindering angle of setting calibration, recalculates a cloud, after a cloud is recalculated, then carries out Pitching angle of setting calibration, after pitching angle of setting calibration is carried out, a cloud is recalculated again, after a cloud is recalculated again, Finally carry out the calibration order of course angle of setting calibration;
In the present embodiment, ideally, the laser scanning reference frame of airborne laser radar system (LiDAR) is with carrying Body coordinate system should be parallel to each other, but due to processing the reason such as handicraft and mounting process, it is impossible to ensure coordinate corresponding to both Axle is substantially parallel.Existing angle is eccentric angle (misalignment between laser scanning reference frame and carrier coordinate system Angle), divided according to coordinate system, three angle skews can be divided into, respectively x-axis angle skew (ex), y-axis angle is inclined (ey) and z-axis angle skew (ez) are moved, corresponds to sidewinder angle of setting, pitching angle of setting and course angle of setting respectively.
In the present embodiment, as an alternative embodiment, placement angle error calibration includes:Sidewinder angle of setting calibration, pitching peace Angle setting calibration and course angle of setting calibration.Wherein,
Influence of three placement angle errors to laser point cloud is nonlinear.General placement angle error is a small quantity, can Approximately linear relation.
In the present embodiment, in order to improve calibration precision, set first calibration to sidewinder angle of setting, then recalculate a cloud, After recalculating a cloud, only remaining pitching angle of setting and course dispose angle error.And pitching placement angle error and course angle of setting Error can all make the skew of laser point cloud generation plan-position.Wherein, course placement angle error produces on identical course line is come and gone Position skew can offset, thus, there is provided the condition of the preferential calibration of pitching angle of setting.After pitching angle of setting calibration, again Calculate point cloud.Last calibration course angle of setting.
In the present embodiment, as an alternative embodiment, calibration order, which uses, sidewinders angle of setting → pitching angle of setting → course The calibration order of angle of setting.
In the present embodiment, as an alternative embodiment, after the completion of flight test, initial data is handled, calculates target Cloud data under coordinate system.Then cloud data is imported to the TerraScan softwares pre-set carry out disposing angle error inspection School.
In the present embodiment, placement angle error calibration uses geometrical model method, and geometrical model method is according to airborne laser radar System flight feature atural object or control point obtain the point cloud of overlapping air strips, and establishing geometrical relationship according to point cloud solves angle of setting mistake A kind of method of difference.
In the present embodiment, as an alternative embodiment, sidewindering angle of setting calibration includes:
A11, it will be perpendicular to straight highway and come and go the cloud data that two course lines of overlapping flight obtain and import pre-set Calibration software;
In the present embodiment, as an alternative embodiment, calibration software is TerraScan softwares.
A12, a section is cut, cut trend of the direction requirement of section along straight highway, the section cut is two The intersecting straight line of bar, sidewinder half of the angle of setting angle of setting for two included angle of straight line;
In the present embodiment, as an alternative embodiment, section depth is generally 0.2~0.5m.Due to sidewindering angle of setting Reason, the section cut are two intersecting straight lines, sidewinder half of the angle of setting angle of setting for two included angle of straight line.
A13, two straight lines are fitted, directly measure the angle of two straight lines;
A14, cloud data is corrected according to the angle parameter measured, determined to sidewinder angle of setting according to the effect of correction Parameter it is positive and negative;
In the present embodiment, program is corrected by the way that the input of the angle tried to achieve parameter is sidewindered into angle of setting, cloud data is carried out Calculate, if correction effect is preferable, just stop calibration, otherwise need to continue calibration.
A15, repeatedly cut, obtain one group and sidewinder placement angular dimensions, according to the principle of least square, finally try to achieve and sidewinder Angle of setting calibration value.
In the present embodiment, sidewinder influence of the angle of setting to a cloud and be similar to when aircraft or so is slight to roll to a cloud position Influence, be called roll angle.As an alternative embodiment, if system, which exists, sidewinders angle of setting, the point cloud of acquisition or so height partially From true altitude, side true altitude above ground level is shown as, opposite side is in less than true altitude.
Fig. 3 is that embodiments of the invention three sidewinder influence schematic diagram of the angle of setting to laser footpoint.As shown in figure 3, Δ r is Sidewinder angle of setting.
Due to Δ r be present, the point cloud of the acquisition of complete opposite direction flight is not on a horizontal plane, toward the cloud composition that returns the benefit Line between certain angle be present, that is, sidewinder angle of setting.In the present embodiment, calculated using following formula and sidewinder angle of setting:
In formula,
Δ r is to sidewinder angle of setting;
zL-zRFor the depth displacement of the same scan line leftmost side and the rightmost side;
H is flying height;
θmaxFor maximum scan angle.
In the present embodiment, as an alternative embodiment, carrying out pitching angle of setting calibration includes:
A21, extraction sidewinder the cloud data of angle of setting correction;
A22, by course line display point cloud in calibration software, only show two overlapping boats perpendicular to ridge line shuttle flight The point cloud of line is analyzed;
A23 is (general in view of the depth of roof slope, section depth along multiple sections are cut perpendicular to ridge line direction For 1~2m), if it find that two roof apex are offset along heading, the displacement using the horizontal displacement as ridge line, i.e., The horizontal offset of same place, directly measures offset on TerraScan on the room of pinnacle;
A24, the pitching angle of setting calculation formula that the offset measured is applied to pre-set, obtains pitching angle of setting;
In the present embodiment, under online scan pattern, pitching angle of setting can be such that the actual position of a cloud is produced along heading Position deviation.Pitching angle of setting in flat country on a cloud level journey without influence, it is but obvious tilting performance at atural object.Flat It is different that point cloud on two opposite course lines of regional heading in same position does not have depth displacement, and tilting atural object has significantly Elevation difference.
Fig. 4 is influence schematic diagram of the pitching angle of setting of embodiments of the invention four to laser footpoint position.As shown in figure 4, Wherein, the laser point cloud of solid line has pitching to dispose angle error, and the laser point cloud of dotted line disposes angle error, pitching angle of setting without pitching Calculation formula is as follows:
Δ p=D1/(2H)
In formula,
ΔpFor pitching angle of setting;
D1For the horizontal offset of same place on the room of pinnacle;
H is average flying height.
In the present embodiment, due to the presence of course placement angle error, the center position of atural object can produce skew, but such as What shuttle flight is just overlapped in the surface of calibration field atural object, can not have to consider course placement angle error centering heart position Influence.
In the present embodiment, when designing course line it has been found that average flying height H, by the level for determining same place on the room of pinnacle Offset, pitching angle of setting can be calculated to obtain.
A25, multiple sections are intercepted, also according to the principle of least square, finally try to achieve pitching placement angular dimensions.
In the present embodiment, obtained parameter is corrected a cloud coordinate, sentenced according to cloud overlapping cases are put before and after calibration It is disconnected whether to need calibration again.
In the present embodiment, as an alternative embodiment, carrying out course angle of setting calibration includes:
A31, calibration is complete sidewinder angle of setting and pitching angle of setting on the basis of, only show two parallel course lines (AB and DC) Cloud data;
A32, vertical ridge line direction cut multiple sections in ridge middle (depth is also 1~2m);
A33, search the existing obvious displacement in the horizontal direction of ridge line summit, using the displacement as roof characteristics o'clock two The horizontal displacement along ridge line vertical direction in the parallel course line of bar;
A34, the average distance between two parallel course lines is directly measured by calibration software;
A35, the course angle of setting calculation formula that the horizontal displacement and the average distance are applied to pre-set, is obtained Go out one group of course angle of setting and determine positive and negative, reuse the principle of least square and try to achieve course angle of setting.
In the present embodiment, as an alternative embodiment, it is described draw one group of course angle of setting and determine it is positive and negative and then Before the secondary utilization principle of least square tries to achieve course angle of setting, this method also includes:
A cloud coordinate is corrected according to the course angle of setting for determining positive and negative, if degree of overlapping is preferable, without carrying out again Calibration;Otherwise need to continue calibration, untill overlapping air strips point cloud is completely overlapped, then performs and reuse least square original The step of reason tries to achieve course angle of setting.
In the present embodiment, course angle of setting can not only change the position at scanned object center, can also produce object Deformation, course angle of setting calibration is relatively difficult, typically small mainly due to course angle of setting, calibration baseline (characteristic point Distance between relative flight nadir) it is also just shorter, the displacement of object is corresponding smaller, so that the calibration of course angle of setting occurs Relatively large deviation.In order to avoid baseline is too short, generally use is flown the method in two parallel course lines along ridge line vertical direction, then and two Secondary obtained atural object center of flying is twice unidirectionally to fly, is more beneficial for accurate solution and seeks course angle of setting.
Fig. 5 is that the course of embodiments of the invention five disposes angle point cloud schematic diagram.As shown in figure 5, in figure, Δ H is angle of drift Skew.Generally all it is to ask angle of drift using the distance solution between culture point and flight nadir point (point immediately below aircraft).Here select Taking the midpoint of room crestal line, obtained point coordinates in two parallel course lines has along ridge line vertical direction as characteristic point Horizontal displacement, it is set to D2
In the present embodiment, course angle of setting calculation formula is as follows:
Tan Δs H=D2/(L1L2)
In the present embodiment, due to Δ H very littles, can be approximately:
Δ H=D2/(L1L2)
In formula,
D2The horizontal displacement along ridge line vertical direction for being roof characteristics o'clock in two parallel course lines;
L1L2For the average distance between two parallel course lines.
Step 104, the placement angle error calibration parameter that the last progress course angle of setting calibration obtains is applied to pre- The correction program first set is to realize the correction to a cloud.
In the present embodiment, pass through the correction journey for being applied to pre-set by obtain three placement angle error calibration parameters Sequence, it is possible to achieve the correction to a cloud.
The result of flight test twice is obtained according to solution procedure, is shown in Table 1.
Table 1 disposes angle error calibration result (unit:°)
Angle of setting calibration result is substituted into correction program and calculates point cloud, " herringbone " house after angle of setting corrects Top point cloud overlaps preferable.
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 one ... ", it is not excluded that Other identical element in the process including the key element, method, article or equipment also be present.
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)

1. one kind placement angle error calibration method, it is characterised in that including:
Placement angle error calibration field is set, and the placement angle error calibration field has that place shape is flat, there are a large amount of tall and big " herringbones Shape " factory building and straight highway and beneficial to flight;
Placement angle error calibration field course line is set, and the placement angle error calibration field course line meets the calibration condition pre-set;
In the placement angle error calibration field, according to the placement angle error calibration field course line, using first carrying out sidewindering angle of setting Calibration, after carrying out sidewindering angle of setting calibration, a cloud is recalculated, after a cloud is recalculated, then carry out pitching angle of setting inspection School, after pitching angle of setting calibration is carried out, a cloud is recalculated again, after a cloud is recalculated again, finally carries out course The calibration order of angle of setting calibration;
The placement angle error calibration parameter that the last progress course angle of setting calibration obtains is applied to the correction pre-set Program is to realize the correction to a cloud.
2. placement angle error calibration method according to claim 1, it is characterised in that the calibration condition includes:
When I, sidewinder angle of setting calibration, two course lines that overlapping flight is come and gone perpendicular to straight highway are designed;
When II, progress pitching angle of setting calibration, two opposite overlapping course lines of design direction, course-and-bearing is perpendicular to " herringbone " House ridge line, through house top;
III, sidewinder angle of setting calibration with carrying out the calibration of pitching angle of setting be shuttle flight, selects straight highway as far as possible The calibration field parallel to ridge line is moved towards, merges flight;
IV, two parallel course lines, one passes through pinnacle house, and perpendicular to ridge line, a course line is parallel to through point in addition The course line in house is pushed up, and the pinnacle house can be completely covered in the point cloud scanned.
3. placement angle error calibration method according to claim 2, it is characterised in that the calibration condition also includes:
The higher enroute altitude of design.
4. the placement angle error calibration method according to any one of claims 1 to 3, it is characterised in that the angle of setting misses Poor calibration includes:Sidewinder angle of setting calibration, the calibration of pitching angle of setting and course angle of setting calibration.
5. placement angle error calibration method according to claim 4, it is characterised in that described to sidewinder angle of setting calibration bag Include:
Straight highway is will be perpendicular to come and go the cloud data that two course lines of overlapping flight obtain to import the calibration pre-set soft Part;
A section is cut, cuts trend of the direction requirement of section along straight highway, the section cut is two intersecting Straight line, sidewinder half of the angle of setting angle of setting for two included angle of straight line;
Two straight lines are fitted, directly measure the angle of two straight lines;
Angle parameter according to measuring is corrected cloud data, is determined sidewindering placement angular dimensions just according to the effect of correction It is negative;
Repeatedly cut, obtain one group and sidewinder placement angular dimensions, according to the principle of least square, finally tried to achieve and sidewinder angle of setting inspection School is worth.
6. it is according to claim 5 placement angle error calibration method, it is characterised in that using following formula calculate described in sidewinder peace Angle setting:
<mrow> <mi>&amp;Delta;</mi> <mi>r</mi> <mo>=</mo> <mfrac> <mrow> <msub> <mi>z</mi> <mi>L</mi> </msub> <mo>-</mo> <msub> <mi>z</mi> <mi>R</mi> </msub> </mrow> <mrow> <mn>2</mn> <msub> <mi>Htan&amp;theta;</mi> <mi>max</mi> </msub> </mrow> </mfrac> </mrow>
In formula,
Δ r is to sidewinder angle of setting;
zL-zRFor the depth displacement of the same scan line leftmost side and the rightmost side;
H is flying height;
θmaxFor maximum scan angle.
7. placement angle error calibration method according to claim 4, it is characterised in that the progress pitching angle of setting calibration Including:
Extraction sidewinder the cloud data of angle of setting correction;
By course line display point cloud in calibration software, the point cloud perpendicular to two overlapping course lines of ridge line shuttle flight is only shown Analyzed;
Multiple sections (considering the depth of roof slope, section depth is generally 1~2m) are cut along perpendicular to ridge line direction, If it find that two roof apex are offset along heading, the displacement using the horizontal displacement as ridge line, i.e., on the room of pinnacle The horizontal offset of same place, directly measures offset on TerraScan;
The pitching angle of setting calculation formula that the offset measured is applied to pre-set, obtains pitching angle of setting;
Multiple sections are intercepted, also according to the principle of least square, finally try to achieve pitching placement angular dimensions.
8. placement angle error calibration method according to claim 7, it is characterised in that calculate the pitching using following formula and pacify Angle setting:
Δ p=D1/(2H)
In formula,
ΔpFor pitching angle of setting;
D1For the horizontal offset of same place on the room of pinnacle;
H is average flying height.
9. placement angle error calibration method according to claim 4, it is characterised in that the progress course angle of setting calibration Including:
Calibration is complete sidewinder angle of setting and pitching angle of setting on the basis of, only show two parallel course lines (AB and DC) point cloud number According to;
Vertical ridge line direction cuts multiple sections in ridge middle (depth is also 1~2m);
Search the existing obvious displacement in the horizontal direction of ridge line summit, using the displacement as roof characteristics o'clock in two parallel boats The horizontal displacement along ridge line vertical direction in line;
Average distance between two parallel course lines is directly measured by calibration software;
The course angle of setting calculation formula that the horizontal displacement and the average distance are applied to pre-set, draws one group of boat To angle of setting and determine positive and negative, reuse the principle of least square and try to achieve course angle of setting.
10. placement angle error calibration method according to claim 9, it is characterised in that draw one group of course peace described Angle setting and determine it is positive and negative and then it is secondary try to achieve course angle of setting using the principle of least square before, methods described also includes:
A cloud coordinate is corrected according to the course angle of setting for determining positive and negative, if degree of overlapping is preferable, without carrying out calibration again; Otherwise need to continue calibration, untill overlapping air strips point cloud is completely overlapped, then execution reuses the principle of least square and asked The step of obtaining course angle of setting.
CN201710614994.XA 2017-07-25 2017-07-25 One kind placement angle error calibration method Pending CN107621628A (en)

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Cited By (7)

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Publication number Priority date Publication date Assignee Title
CN108572361A (en) * 2018-04-03 2018-09-25 深圳飞马机器人科技有限公司 Airborne laser radar system equipment integrates angle of setting calibration method and device
CN111208497A (en) * 2020-04-20 2020-05-29 成都纵横融合科技有限公司 Airborne laser radar system adjustment processing method
CN111857174A (en) * 2020-06-23 2020-10-30 国网江苏省电力有限公司徐州供电分公司 Unmanned aerial vehicle power data calibration method based on laser radar data
CN113567963A (en) * 2021-06-25 2021-10-29 北京四维远见信息技术有限公司 Method for precisely detecting laser radar measurement error
WO2022028377A1 (en) * 2020-08-03 2022-02-10 广州极飞科技股份有限公司 Autopilot calibration method and apparatus, and electronic device and computer readable storage medium
CN116087925A (en) * 2023-04-07 2023-05-09 深圳煜炜光学科技有限公司 Method, device, equipment and storage medium for correcting quadrature error angle
CN116299369A (en) * 2023-05-23 2023-06-23 山东科技大学 Positioning angle error correction method based on airborne laser sounding system

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108572361A (en) * 2018-04-03 2018-09-25 深圳飞马机器人科技有限公司 Airborne laser radar system equipment integrates angle of setting calibration method and device
CN111208497A (en) * 2020-04-20 2020-05-29 成都纵横融合科技有限公司 Airborne laser radar system adjustment processing method
CN111857174A (en) * 2020-06-23 2020-10-30 国网江苏省电力有限公司徐州供电分公司 Unmanned aerial vehicle power data calibration method based on laser radar data
WO2022028377A1 (en) * 2020-08-03 2022-02-10 广州极飞科技股份有限公司 Autopilot calibration method and apparatus, and electronic device and computer readable storage medium
CN113567963A (en) * 2021-06-25 2021-10-29 北京四维远见信息技术有限公司 Method for precisely detecting laser radar measurement error
CN116087925A (en) * 2023-04-07 2023-05-09 深圳煜炜光学科技有限公司 Method, device, equipment and storage medium for correcting quadrature error angle
CN116299369A (en) * 2023-05-23 2023-06-23 山东科技大学 Positioning angle error correction method based on airborne laser sounding system
CN116299369B (en) * 2023-05-23 2023-08-18 山东科技大学 Positioning angle error correction method based on airborne laser sounding system

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