CN107703499A - A kind of point cloud error calibration method based on self-control ground laser radar alignment error - Google Patents

A kind of point cloud error calibration method based on self-control ground laser radar alignment error Download PDF

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CN107703499A
CN107703499A CN201710724073.9A CN201710724073A CN107703499A CN 107703499 A CN107703499 A CN 107703499A CN 201710724073 A CN201710724073 A CN 201710724073A CN 107703499 A CN107703499 A CN 107703499A
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error
laser radar
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imaging system
angle
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CN107703499B (en
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李小路
徐立军
李昀晔
谢鑫浩
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Beihang University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates

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  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The present invention discloses a kind of point cloud error calibration method based on self-control ground laser radar alignment error, this method coordinates the scan mode of cloud platform rotation mainly for self-control 45 ° of tilting mirrors of laser radar system, by calculating influence of the alignment error to self-control system angle error between incident light and pitch axis, establish self-control laser radar system point cloud error correction model, alignment error is solved as actual value to the scanning element cloud coordinate of target using high-precision three-dimensional scanner, so as to realize error correction of the self-control laser radar system alignment error to target point cloud.Methods described mainly includes following three step：1) establish and make laser radar 3-D imaging system angle error model and abbreviation by oneself as caused by alignment error；2) obtain making laser radar 3-D imaging system point cloud error model by oneself；3) alignment error in self-control laser radar 3-D imaging system point cloud error model is solved, and self-control laser radar system target point cloud is corrected according to model.

Description

A kind of point cloud error calibration method based on self-control ground laser radar alignment error
Technical field
It is especially a kind of based on self-control ground laser radar alignment error the present invention relates to lidar measurement technical field Point cloud error calibration method
Background technology
Lidar measurement technology is a kind of emerging active remote sensing technology fast-developing in the last few years, is typically connect using non- Touch e measurement technology, had a wide range of applications in remote sensing, military detection, marine charting, air Exploration Domain.In laser radar Three-dimensional scanning measurement technology by way of high-rate laser scanning, can be obtained quickly on the basis of traditional single point measuring technique The high-resolution cloud data of target object surface is taken, this technology has simple data processing, rapidity, initiative, resists and do Disturb the advantages that ability is strong, measurement accuracy is high, scope is big.But Laser Radar Scanning precision is largely by itself accuracy of instrument Influence, in actual use, the precision of instrument is in itself not in full conformity with its nominal accuracy, or external force during because using is collided, is outer Boundary's condition change, cause instrument performance unstable using the loss brought and other X factors for a long time, scanning result can Systematic Errors can occur.Therefore, laser radar instrument error is effectively eliminated, is the key for improving scanning element cloud precision.
According to existing achievement in research, laser radar is broadly divided into airborne laser radar and the major class of ground laser radar two, closes Also had nothing in common with each other in the point cloud error calibration method of laser radar 3-D imaging system, the first kind is based on airborne laser radar system Scaling method based on flight self-calibration, basic thought is that known target point or relative target point are carried out using laser Scanning, caused constant offset amount carries out parameter Estimation, including overlapping air strips calibration technique, least square adjustment to during Geometric calibration technology etc..Wherein, overlapping air strips calibration technique has higher requirement to waterway design technology；During adjustment method solves Supposed premise condition be typically difficult to set up, the problems such as Parameter Estimation Precision may being caused to decline.Above-mentioned airborne laser radar system The scaling method and the present invention of system are without contrast, no reference.
The scaling method overwhelming majority of second class based on ground laser radar system is indoors or baseline field is completed, and one A little calibrating experiments for being related to positional accuracy are tried using the target of system support mostly mainly using the method for common point conversion Test, including space length detection method, self calibration method etc..Space length detection method has high requirement to detecting field, it is necessary to place With precision very high-precision, that relatively dependence scanning target is laid；Self calibration method is typically using instruments such as total powerstation, theodolites to swashing Optical detection and ranging system establishes calibration model, and model generally comprises the parameters such as the coordinate system anglec of rotation, translational movement and instrument internal error, Drawn using these parameters as unknown quantity by Unified Solution, this method constantly improve can be missed by way of increasing parameter Differential mode type, the correction accuracy of systematic error is improved, the scope of calibration laser radar system is than wide, and to the cloth of target object If precision is without very high requirement.The present invention just belongs to a kind of System self-test calibration method.
The patent provided according to existing Patent Office is consulted, and the self-test calibration method of ground laser radar system is broadly divided into following Two classes：First kind method obtains coordinate rotation, the translation between system to be calibrated and high-precision scanner using public sign point Amount, is directly used as system spatial coordinates measurement error using the difference of system measurement to be calibrated and canonical measure value.Such method pin To all 3 d space coordinate measuring systems, space coordinates measurement relative error is obtained, its shortcoming is only in three-dimensional point cloud aspect Assessment and correction error, unstructured SYSTEM ERROR MODEL, and need great amount of samples data to realize accurate correction；Above-mentioned patent " a kind of calibration side of spatial coordinate measuring system of electronic theodolite being included in disclosed in Chinese patent 200810147441.9 Method ".Second class method is analyzed the probability density distribution of system ranging error and angle error using statistical method, is obtained Error correction sample into three-dimensional system of coordinate.Such method is directed to all 3 D Coordinate Measuring Systems, obtains systematic error and repaiies Positive model, its shortcoming are that SYSTEM ERROR MODEL parameter does not have physical significance, not for system scan mode itself from error source Angle carry out theory analysis, therefore rely on big-sample data could realize accurate correction；Above-mentioned patent is included in Chinese patent " a kind of modification method of long-range scanning lidar measurement error " 201710014687.8 disclosed in.
The present invention and the main distinction of existing system self calibration process patent are：One kind is proposed to sweep in itself for system Mode is retouched to carry out theory analysis from the angle of error source, realize self-control ground laser radar alignment error point using a small amount of target point The method of cloud error correction, suitable for all 3 D scanning systems for coordinating cloud platform rotation scan mode using 45 ° of tilting mirrors.This hair It is bright to be had broad application prospects in lidar measurement technical field.
The content of the invention
The present invention discloses a kind of point cloud error calibration method based on self-control ground laser radar alignment error, and its feature exists In this method coordinates the scan mode of cloud platform rotation for 45 ° of tilting mirrors in self-control laser radar 3-D imaging system, wherein described Making laser radar 3-D imaging system by oneself includes optical system, sweep mechanism (motor, 45 ° of tilting mirrors), head；Described in incident light warp Optical system exit rotates horizontally to 45 ° of tilting mirror centers (O points) with the sweep mechanism vertical rotary, the head It is emitted from the self-control laser radar 3-D imaging system；Coordinate system (the O- of the self-control laser radar 3-D imaging system XYZ pitch axis (X-axis), initial emergent ray direction (Y-axis) and azimuth axis (Z axis)) are included；Ideally, the incident light Overlapped with the pitch axis (X-axis), but angle β, institute under actual conditions between the incident light and the pitch axis (X-axis) be present State between opposite vector and the azimuth axis (Z axis) that incident light projects in YOZ planes and angle be presentThe alignment error It is defined as：1. the angle β between the actual incident light and the pitch axis (X-axis)；2. the actual incident light is in the YOZ Angle between the opposite vector and the azimuth axis (Z axis) that are projected in planeStarted at from Z axis positive axis, clockwise For just, scope is 0 ° to 360 °；Point P one-dimensional distance L in the coordinate system (O-XYZ) are defined as in targetLength, AzimuthIt is defined asIn the projection of XOY plane and the angle of X-axis, started at from X-axis positive axis, counterclockwise for just, model Enclose for 0 ° to 360 °, the angle of pitchBe defined as 90 ° withThe difference of angle between Z axis, the one-dimensional distance L, the azimuthWith the angle of pitchMeasurement error be respectively range error Δ L, azimuth angle errorWith pitching angle errorPass through Alignment error described in theory analysisTo the self-control laser radar 3-D imaging system angle error (azimuth angle errorPitching angle error) influence, establish it is described self-control laser radar 3-D imaging system angle error model；It is described The point cloud of target is defined as the rectangular co-ordinate (x, y, z) of any in targetT, the point cloud error of target is defined as the target point cloud Coordinates measurements and actual value deviation (Δ x, Δ y, Δ z)T, according to point cloud error (the Δ x, Δ y, Δ z) of the targetT With the target angle error (azimuth angle errorPitching angle error) between error propagation principle, establish it is described from The point cloud error model of laser radar 3-D imaging system processed is as follows：
The self-control laser radar 3-D imaging system is obtained to the alignment errorThe mesh after correction Punctuate cloud coordinate is：
(x+Δx,y+Δy,z+Δz)T
So as to realize to the self-control laser radar 3-D imaging system alignment errorPoint cloud error correction；
Methods described mainly includes following seven step：
1) the self-control laser radar 3-D imaging system coordinate system (O-XYZ) is established；Any point P exists in the target Measured value in the coordinate system (O-XYZ) is azimuthThe angle of pitchAny point P is in the coordinate in the target Actual value in system (O-XYZ) is azimuthThe angle of pitchIt is describedWithDifference is azimuth angle errorIt is describedWithDifference is pitching angle error
2) establish by the alignment errorThe caused self-control laser radar 3-D imaging system angle measurement misses Differential mode type；The model respectively describes the angle error (azimuth angle errorPitching angle error) and the alignment mistake DifferenceAnd the azimuth of the targetThe angle of pitchBetween mathematical relationship, it is as follows：
3) it is based on to the alignment errorTrigonometric function value carry out approximate transform, make laser by oneself described in abbreviation Radar three-dimensional imaging system angle error model, it is as follows：
4) according to error propagation principle, point cloud error (Δ x, the Δ for making laser radar 3-D imaging system by oneself is established y,Δz)TWith the range error Δ L, the angle error (azimuth angle errorPitching angle error) between mapping Relation, it is as follows：
Wherein, L is one-dimensional distance of any point in the self-control laser radar 3-D imaging system in the target, Δ L is the measurement error of any point one-dimensional distance L in the target；
5) by under the self-control laser radar 3-D imaging system angle error model conversation to rectangular coordinate system, institute is obtained The point cloud error model for stating self-control laser radar 3-D imaging system is as follows：
6) N number of target is scanned using the self-control laser radar 3-D imaging system, obtains the target Coordinate (x in the self-control laser radar 3-D imaging systemi,yi,zi)T, (i=1,2 ..., N), as measured value；Profit Rescan is carried out to the target with high-precision three-dimensional scanner, obtains the target in the high-precision three-dimensional scanner Coordinate (x 'i,y′i,z′i)T, (i=1,2 ..., N), it is transformed under the self-control laser radar 3-D imaging system, is made For actual value；The difference of the measured value and the actual value is the point cloud error for making laser radar 3-D imaging system by oneself (Δxi,Δyi,Δzi)T, (i=1,2 ..., N)；According to the mapping relations between spherical coordinate system and rectangular coordinate system, by described Measurement is worth to the one-dimensional distance L of the targeti, azimuthAnd the angle of pitchThe range error Δ L of the targetiInstitute State one-dimensional distance LiIt is considered as a known constant when in certain limit；
7) model parameter in the self-control laser radar 3-D imaging system point cloud error model, i.e., described alignment are solved ErrorTo the self-control laser radar 3-D imaging system alignment errorPoint cloud error carry out school Just；By point cloud error (the Δ x of the self-control laser radar 3-D imaging systemi,Δyi,Δzi)T, (i=1,2 ..., N), institute State the one-dimensional distance L of targeti, azimuthThe angle of pitchWith range error Δ LiSubstitute into the formula (4), obtain 3*N Nonlinear equation, the self-control laser radar 3-D imaging system point cloud error model is determined by solving the nonlinear equation In the alignment errorBy the alignment errorSubstitution formula (4), in the self-control laser radar three Tie up the target point cloud coordinate (x, y, z) of imaging systemTOn the basis of, obtain the self-control laser radar 3-D imaging system school The target point cloud coordinate (x+ Δs x, y+ Δ y, z+ Δ z) after justT。
Wherein, the self-control laser radar 3-D imaging system coordinate system (O-XYZ) is established；The self-control laser radar three The pitch axis of dimension imaging system is defined as the machine shaft of 45 ° of tilting mirrors, and azimuth axis is defined as the rotating shaft of the head；It is preferable In the case of, the incident light and the pitching overlapping of axles；The reflecting surface center of 45 ° of tilting mirrors, i.e., described ideal incident light enter The intersection point being mapped on the reflecting surface is origin of coordinates O；It is incident with the ideal incident light with the pitching overlapping of axles, positive direction Direction identical reference axis on to 45 ° of tilting mirrors is defined as X-axis；With the initial exit direction identical of the ideal incident light Reference axis is defined as Y-axis；With the orientation overlapping of axles, the reference axis of positive direction straight up is defined as Z axis.
Wherein, establish by the alignment errorThe caused self-control laser radar 3-D imaging system angle measurement Error model and abbreviation；Due to angle β, the actual incidence between the actual incident light and the pitch axis (X-axis) be present Angle be present between opposite vector and the azimuth axis (Z axis) that light projects in the YOZ planesFrom Z axis positive axis Calculate, clockwise for just, scope is 0 ° to 360 °；
The self-control laser radar 3-D imaging system angle error model to establish process as follows：
Initially 45 ° of tilting mirror normals unit vector is (under the O-XYZ coordinate systems)：
Ideally emergent ray passes through a point P in the target, now 45 ° of tilting mirror normal vectors (O- Under XYZ coordinate system) be：
In formula (6)For the pitch angle measurement value of a point P in the target,For the institute of a point P in the target Azimuth determination value is stated,Respectively around described in the X-axis rotate counterclockwiseAngle, around the Z axis Described in rotate counterclockwiseThe spin matrix at angle, the spin matrix are as follows：
Formula (5) and formula (7) are substituted into formula (6), the normal vector of 45 ° of tilting mirrors under the O-XYZ coordinate systems can be obtained such as Under：
Initially the actual incident light vector isThrough the head It is changed into after rotationVector form by light reflection law isTry to achieve emergent light Vector isAccording to the transformational relation between spherical coordinates and rectangular co-ordinate, such as following formula (9), can try to achieve described Azimuth and the actual value of the angle of pitch
According to trigonometric function cy-pres doctrine, the azimuth angle errorWith the pitching angle errorCan be similar to Following form：
The obtained self-control laser radar 3-D imaging system angle error model includes the azimuth angle errorWith Pitching angle errorDescribe the angle error (azimuth angle errorPitching angle error) and the alignment errorAnd the azimuthThe angle of pitchBetween mathematical relationship；
According to trigonometric function cy-pres doctrine sin β=β, cos β=1, and rationally clipped β high-order term, obtain abbreviation The self-control laser radar 3-D imaging system angle error model is as follows afterwards：
Wherein, it is described self-control laser radar 3-D imaging system spherical coordinate system in angle error model conversion to it is described from Point cloud error model in laser radar 3-D imaging system rectangular coordinate system processed；The self-control laser radar 3-D imaging system The one-dimensional distance L of a point P, the azimuth in the target can be directly obtained after scanningWith the angle of pitch's Measured value, obtained according under formula (9) conversion to the self-control laser radar 3-D imaging system rectangular coordinate system in the target One point P 3 d space coordinate (x, y, z)T；
Due to the range error Δ L and the angle error (azimuth angle error be presentPitching angle error), The coordinates measurements of a point P are P'(x+ Δs x, y+ Δ y, z+ Δ z) in the target, wherein (Δ x, Δ y, Δ z)TFor the mesh Target point cloud error, according to formula of error transmission, it is as follows to obtain the self-control laser radar 3-D imaging system point cloud error model：
Wherein, Coordinate Conversion of the target in the high-precision three-dimensional scanner is three-dimensional to the self-control laser radar In imaging system；The alignment error in the self-control laser radar 3-D imaging system point cloud error model It is unknown and be not easy to measure, thus using the self-control laser radar 3-D imaging system with the high-precision three-dimensional scanner Point cloud coordinate data solves the alignment errorRealize point cloud error correction；Utilize the self-control laser radar three Dimension imaging system is scanned to N number of target, is obtained all a little three-dimensional in the self-control laser radar in the target Coordinate (x under imaging system coordinate systemi,yi,zi)T, (i=1,2 ..., N), as measured value；The measured value is substituted into formula (9) the one-dimensional distance L of all targets, is obtainedi, the angle of pitchAnd azimuthUtilize the high-precision three-dimensional scanner The identical target is scanned, obtains in the target coordinate a little under the high-precision three-dimensional scanner coordinate system (x′i,y′i,z′i)T, (i=1,2 ..., N)；Due to (the xi,yi,zi)TWith (the x 'i,y′i,z′i)TIn different seats Under mark system, therefore (the x ' by described ini,y′i,z′i)TUnder conversion to the self-control laser radar 3-D imaging system coordinate system, as Actual value；Spin matrix R and translation vector of the high-precision three-dimensional scanner to the self-control laser radar 3-D imaging system Measure T and represent as follows：
Formula (13) is around each axle rotate counterclockwise of the high-precision three-dimensional scanner coordinate system respectively with a, b, c in (14) Angle, x0、y0、z0It is the displacement on described tri- directions of X, Y, Z respectively, (the x 'i,y′i,z′i)TIn the self-control laser thunder It is as follows up to the coordinate in 3-D imaging system：
Wherein, solve the model parameter in the self-control laser radar 3-D imaging system point cloud error model, i.e., it is described Alignment errorThe self-control laser radar 3-D imaging system point cloud error model can be written as form：
The range error Δ LiMainly range-measuring circuit is influenceed in by the self-control laser radar 3-D imaging system, in institute State one-dimensional distance LiIt is a known constant when in certain limit；(the x by described ini,yi,zi)T, (the x 'i,y′i,z′i)T、 The one-dimensional distance Li, the azimuthWith the angle of pitchSubstitution formula (15) and formula (16), are asked based on least square method Solve 3*N nonlinear equation, it may be determined that the spin matrix R and translation vector T (a, b, c, the x0,y0,z0) with it is described right Quasi- errorTotally 8 unknown quantitys.
Wherein, the alignment error for solving gained is utilizedImprove the self-control laser radar three-dimensional imaging system The point cloud error model of system, realize the point cloud error correction to the self-control laser radar 3-D imaging system alignment error；Will The alignment errorSubstitution formula (11) and formula (12), obtain the point of the self-control laser radar 3-D imaging system Cloud error (Δ x, Δ y, Δ z)T, in the target point cloud coordinate (x, y, z) of the self-control laser radar 3-D imaging systemT On the basis of, the self-control laser radar 3-D imaging system is obtained to the alignment errorThe mesh after correction Punctuate cloud coordinate (x+ Δs x, y+ Δ y, z+ Δ z)T。
Wherein, the target bag for the self-control laser radar 3-D imaging system alignment error point cloud error correction Contain but be not limited to all objects for obtaining point space coordinate in the target such as the reflective target of target ball, plane.
Brief description of the drawings
Fig. 1 is to make space schematic diagram of the laser radar 3-D imaging system to targeted scans by oneself；
Fig. 2 is the point cloud error correction schematic flow sheet for making ground laser radar alignment error by oneself；
Fig. 3 is alignment error schematic diagram between incident light and pitch axis under self-control system coordinate system；
Fig. 4 is the simulation result that angle error changes in self-control system gamut scanning process；
Fig. 5 is the comparing result of angle error emulation before and after self-control system angle error model abbreviation；
Fig. 6 is to make the schematic flow sheet that parameter is established in system point cloud error model by oneself；
Fig. 7 is to make the sweeping scheme schematic diagram that parameter is established in system point cloud error model by oneself；
Embodiment
The embodiment of patent of the present invention is described in further detail below in conjunction with accompanying drawing.Swashed based on self-control ground The point cloud error calibration method schematic flow sheet of optical radar alignment error as shown in Fig. 2 first establish self-control laser radar three-dimensional into As system (713) coordinate system O-XYZ, due to actual incident light (106) in self-control system under actual conditions and pitch axis X-axis (201) alignment error between be present(301,302), in self-control laser radar 3-D imaging system (713) coordinate system Lower theory deduction goes out alignment error(301,302) are missed for self-control laser radar 3-D imaging system (713) angle measurement The influence of difference, obtain making laser radar 3-D imaging system (713) angle error model by oneself.According to trigonometric function cy-pres doctrine, Abbreviation is carried out to self-control laser radar 3-D imaging system (713) angle error model.According to error propagation principle, self-control is swashed Optical radar 3-D imaging system (713) angle error model conversation under rectangular coordinate system, obtain making by oneself laser radar three-dimensional into As system (713) point cloud error model.Using making laser radar 3-D imaging system (713) and high-precision three-dimensional scanner by oneself (714) identical target ball (701-712) is scanned, respectively obtains two groups of target cloud datas, realizing that coordinate system is unified Data are substituted into self-control laser radar 3-D imaging system (713) point cloud error (specification expression formula (15) and (16)) afterwards, Solving model parameter, i.e. alignment error(301,302), and using this result realize self-control laser radar three-dimensional into As the error correction of system (713) point cloud.Therefore specific embodiment can be divided into four steps：Make laser radar three-dimensional imaging system by oneself The foundation of unified test angle error model, the abbreviation for making laser radar 3-D imaging system angle error model by oneself, self-control laser radar The foundation of 3-D imaging system point cloud error model and parametric solution and the correction of model.
(1) foundation of laser radar 3-D imaging system angle error model is made by oneself
The space schematic diagram that self-control laser radar 3-D imaging system (713) scans to target (107) is as shown in figure 1, certainly When laser radar 3-D imaging system (713) processed is scanned, ideal incident light (105) is incident after optical system (101) To 45 ° of tilting mirror (103) center O points, the point is as the origin of coordinates.Motor (102) controls 45 ° of tilting mirror (103) vertical rotaries, electricity Machine (102) rotating shaft is pitch axis, is overlapped with X-axis (201), X-axis (201) positive direction and ideal incident light (105) incident direction It is identical.Head (104) rotates horizontally around vertical axis simultaneously, Z axis (203) and vertical overlapping of axles, and positive direction is straight up.Establish Right-handed coordinate system, it is believed that initial laser exit direction is Y-axis (202) positive direction, realizes the scanning to three dimensions.
Make by oneself alignment error between incident light and pitch axis under laser radar 3-D imaging system (713) coordinate system (301, 302) schematic diagram existing for as shown in figures 1 and 3, is deposited under actual conditions between incident light (106) and pitch axis (X-axis) (201) Deposited between the opposite vector and azimuth axis (Z axis) (203) that angle β (301), actual incident light (106) project in YOZ planes In angle(302), started at from Z axis positive axis, clockwise for just, scope is 0 ° to 360 °.Target object (107) is one Individual target ball, any point is P points (108) on target ball, it is believed that emergent ray passes through P points (108) in space, is now emitted The azimuth (303) of laser and the angle of pitch (304) are measured respectively asWithThe method of the lower 45 ° of tilting mirrors (103) of O-XYZ coordinate systems Line vector is as follows：
Actual incident light (106) vector isBy anti- Penetrating the vector form of law can obtain being emitted light vectorAccording to turning between spherical coordinates and rectangular co-ordinate Relation is changed, such as formula (9), the actual value at azimuth (303) and the angle of pitch (304) can be tried to achieveIt is near according to trigonometric function Like principle, azimuth angle errorWith pitching angle errorCan be similar to following form：
Self-control laser radar 3-D imaging system (713) the angle error model finally established includes azimuth angle error With pitching angle errorError model result is as follows：
Therefore self-control laser radar 3-D imaging system (713) angle error (azimuth angle errorPitching angle error) by alignment error(301,302) and azimuth (303), the angle of pitch (304) influence.Assuming that self-control laser Radar three-dimensional imaging system (713) alignment error (301,302) parameter is β=5 ",Vertical scanning scope isHorizontal sweep scope isMake laser radar 3-D imaging system (713) gamut by oneself Angle error (azimuth angle error in scanning processPitching angle error) change simulation result it is as shown in Figure 4.As a result Show：Angle error is constant during horizontal sweep；During vertical scanning from the bottom to top, azimuth angle errorAlways It is incremented by, pitching angle errorFirst successively decrease and be incremented by afterwards, the order of magnitude of angle error is 10-5.The simulation result can be intuitively Certain alignment error be present in display self-control laser radar 3-D imaging system (713)When (301,302), entirely sweep The situation of change of angle error during retouching.
(2) abbreviation of laser radar 3-D imaging system angle error model is made by oneself
Above-mentioned self-control laser radar 3-D imaging system (713) angle error model is complex, it is necessary to carry out reasonable letter Change.According to trigonometric function cy-pres doctrine sin β=β, cos β=1, and rationally clipped β high-order term, after obtaining abbreviation It is as follows to make laser radar 3-D imaging system (713) angle error model by oneself：
Assuming that alignment error (301,302) parameter is β=5 ",Vertical scanning scope isWater Simple scan scope isUnderstood by analysis by alignment errorSelf-control laser caused by (301,302) Radar three-dimensional imaging system (713) angle error is only with the angle of pitch(304) change and change, compare the mould before and after abbreviation Type, the comparing result of the front and rear emulation of self-control laser radar 3-D imaging system (713) angle error model abbreviation are as shown in Figure 5. As a result show：Abbreviation front and back position angle errorWith pitching angle errorWith the angle of pitch(304) measurement variation is identical, Model abbreviation process is correct, the angle error mould using the model after abbreviation as self-control laser radar 3-D imaging system (713) Type.
(3) foundation of laser radar 3-D imaging system point cloud error model is made by oneself
Self-control laser radar 3-D imaging system (713) finally gives and the point cloud of target target ball (107) is shown Data, data format are target point (108) 3 d space coordinate (x, y, z) under rectangular coordinate systemT(306), the pass of Coordinate Conversion System such as formula (9), wherein L is the measured value of the one-dimensional distance (305) of target point,It is the measured value of azimuth of target (303), It is the measured value of the angle of pitch (304).
By formula of error transmission, it is as follows to obtain self-control laser radar 3-D imaging system (713) point cloud error model：
Wherein Δ x, Δ y, Δ z are respectively X, Y, Z axis (201-203) coordinate components error amount, and Δ L misses for system ranging Difference, definite value is can be considered in certain finding range,For system attitude angle error,, can be by upper for system pitching angle error Self-control laser radar 3-D imaging system (713) angle error model is stated to represent.
(4) parametric solution of model and correction
Make schematic flow sheet such as Fig. 6 that parameter is established in laser radar 3-D imaging system (713) point cloud error model by oneself It is shown, take N number of target ball (701-712) to be used as target, respectively with self-control laser radar 3-D imaging system (713) and high accuracy Spatial digitizer (714) is scanned to it, the cloud data of multiple spot on each target ball (701-712) is can obtain, using most Small square law carries out spatial fit to putting cloud on each target ball (701-712), respectively obtains self-control laser radar three-dimensional imaging Sphere centre coordinate (x under system (713)i,yi,zi)T, the centre of sphere under (i=1,2 ..., N) and high-precision three-dimensional scanner (714) Coordinate (x 'i,y′i,z′i)T, (i=1,2 ..., N).By (x 'i,y′i,z′i)T, (i=1,2 ..., N) carry out rotation and translation turn Change under self-control laser radar 3-D imaging system (713) coordinate system, substitute into self-control laser radar 3-D imaging system together (713) put in cloud error expression (15) and formula (16), model parameter is solved using least square method, with being aligned Error(301,302) the point cloud error correction of self-control laser radar 3-D imaging system (713) is realized.Specifically sweep It is as follows to retouch scheme：
Make the sweeping scheme schematic diagram of parameter establishment in laser radar 3-D imaging system (713) point cloud error model by oneself such as Shown in Fig. 7, N=12 is taken, that is, prepares target ball 12 (701-712), is arbitrarily laid in ward indoors, laser will be made by oneself Radar three-dimensional imaging system (713) is placed at center, target ball (701-712) is spread all over self-control laser radar 3-D imaging system (713) horizontal sweep scope, just spread all in the range of self-control laser radar 3-D imaging system (713) vertical scanning, Mei Gebiao Target ball (701-712) with self-control laser radar 3-D imaging system (713) apart from roughly the same, now range error be one The constant known.All target balls (701-712) are scanned using laser radar 3-D imaging system (713) is made by oneself, passed through Whole target ball (701-712) sphere centre coordinate (x are obtained after centre of sphere fittingi,yi,zi)T, (i=1,2 ..., 12), as measurement Value, and try to achieve the one-dimensional distance L of each target ball (701-712) centre of spherei(305), the angle of pitchAnd azimuth (304) (303).Rescan is carried out using high-precision three-dimensional scanner (714), obtains all target ball (701-712) sphere centre coordinates (x′i,y′i,z′i)T, (i=1,2 ..., 12), self-control laser radar 3-D imaging system is transformed into by rotation and translation (713) under coordinate system, as actual value, spin matrix R and translation vector T are as follows：
A, b, c are the angle around each axle rotate counterclockwise of high-precision three-dimensional scanner (714) coordinate system respectively in formula, x0、 y0、z0It is the displacement on three directions of X, Y, Z (201-203) respectively, self-control laser radar 3-D imaging system (713) point cloud misses Differential mode type can be written as form：
There are a, b, c, x in above-mentioned model0,y0,z0,β,Totally 8 unknown parameters, will wherein 4 target balls (701,704, 707th, sphere centre coordinate 710) substitutes into formula (19), can obtain 12 nonlinear equations.Assume initially that and alignment error is not presentIt is 0 on the right side of (301,302), i.e. formula (19) equal sign, substitutes into target ball (701,704,707,710) sphere centre coordinate number According to can be in the hope of a, b, c, x using least square solution Nonlinear System of Equations0,y0,z0Initial value, give tacit consent to alignment error(301,302) initial value is 0.After initial value determines, 8 unknown parameters are solved using least square method, will be aligned Error(301,302) formula (11) and formula (12) are substituted into, obtains system point cloud error (Δ x, Δ y, Δ z)T, utilize The coordinate data of remaining 8 target ball (702,703,705,706,708,709,711 and 712) centre ofs sphere is tested to model, Continuous correction model, the model finally given can realize self-control laser radar 3-D imaging system (713) alignment errorThe point cloud error correction of (301,302), the target point cloud coordinate after correction are (x+ Δs x, y+ Δ y, z+ Δ z)T。
In summary, the present invention proposes a kind of point cloud error correction side based on self-control ground laser radar alignment error Method, this method coordinate the scan mode of cloud platform rotation mainly for self-control 45 ° of tilting mirrors of laser radar 3-D imaging system, pass through meter Incident light and influence of the pitching axis misalignment to self-control laser radar 3-D imaging system angle error are calculated, establishes self-control laser Radar three-dimensional imaging system point cloud error model, and the point cloud coordinate of high-precision three-dimensional scanner is used as actual value solution pair Quasi- error, so as to realize the error correction to making laser radar 3-D imaging system alignment error target point cloud by oneself.The present invention is It is a kind of from self-control laser radar 3-D imaging system error source, using a small amount of target point be achievable, theoretical property with The stronger system point cloud error calibration method of logicality, this method are applied to all using 45 ° of tilting mirrors cooperation cloud platform rotation scannings The 3 D scanning system of mode.
It is described above, the basic scheme of specific implementation method only of the present invention, but protection scope of the present invention is not limited to In this, any those skilled in the art in technical scope disclosed by the invention, it is contemplated that change or replacement, 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. Change in the equivalent implication and scope of fallen with claim is intended to be included within the scope of claim.

Claims (8)

  1. A kind of 1. point cloud error calibration method based on self-control ground laser radar alignment error, it is characterised in that this method pin 45 ° of tilting mirrors in self-control laser radar 3-D imaging system are coordinated with the scan mode of cloud platform rotation, wherein the self-control laser thunder Include optical system, sweep mechanism (motor, 45 ° of tilting mirrors), head up to 3-D imaging system；Incident light goes out through the optical system 45 ° of tilting mirror centers (O points) are mapped to, are rotated horizontally with the sweep mechanism vertical rotary, the head from the self-control It is emitted in laser radar 3-D imaging system；The coordinate system (O-XYZ) of the self-control laser radar 3-D imaging system includes bowing Face upward axle (X-axis), initial emergent ray direction (Y-axis) and azimuth axis (Z axis)；Ideally, the incident light and the pitching Axle (X-axis) overlaps, but angle β under actual conditions between the incident light and the pitch axis (X-axis) be present, and the incident light exists Angle be present between the opposite vector and the azimuth axis (Z axis) that are projected in YOZ planesThe alignment error is defined as：① Angle β between the actual incident light and the pitch axis (X-axis)；2. the actual incident light is in the YOZ planes upslide Angle between the opposite vector of shadow and the azimuth axis (Z axis)Started at from Z axis positive axis, clockwise for just, scope For 0 ° to 360 °；Point P one-dimensional distance L in the coordinate system (O-XYZ) are defined as in targetLength, azimuth It is defined asIn the projection of XOY plane and the angle of X-axis, started at from X-axis positive axis, counterclockwise for just, scope be 0 ° extremely 360 °, the angle of pitchBe defined as 90 ° withThe difference of angle between Z axis, the one-dimensional distance L, the azimuthWith it is described The angle of pitchMeasurement error be respectively range error Δ L, azimuth angle errorWith pitching angle errorPass through theory analysis The alignment errorTo the self-control laser radar 3-D imaging system angle error (azimuth angle errorPitching Angle error) influence, establish it is described self-control laser radar 3-D imaging system angle error model；The point of the target Cloud is defined as the rectangular co-ordinate (x, y, z) of any in targetT, the coordinate survey put cloud error and be defined as the target point cloud of target The deviation of value and actual value (Δ x, Δ y, Δ z)T, according to point cloud error (the Δ x, Δ y, Δ z) of the targetTWith the mesh Mapping angle error (azimuth angle errorPitching angle error) between error propagation principle, establish it is described self-control laser thunder Point cloud error model up to 3-D imaging system is as follows：
    The self-control laser radar 3-D imaging system is obtained to the alignment errorThe target point after correction Cloud coordinate is：
    (x+Δx,y+Δy,z+Δz)T
    So as to realize to the self-control laser radar 3-D imaging system alignment errorPoint cloud error correction；
    Methods described mainly includes following seven step：
    1) the self-control laser radar 3-D imaging system coordinate system (O-XYZ) is established；Any point P is described in the target Measured value in coordinate system (O-XYZ) is azimuthThe angle of pitchAny point P is in the coordinate system (O- in the target XYZ the actual value in) is azimuthThe angle of pitchIt is describedWithDifference is azimuth angle errorIt is describedWithDifference is pitching angle error
    2) establish by the alignment errorThe caused self-control laser radar 3-D imaging system angle error mould Type；The model respectively describes the angle error (azimuth angle errorPitching angle error) and the alignment errorAnd the azimuth of the targetThe angle of pitchBetween mathematical relationship, it is as follows：
    3) it is based on to the alignment errorTrigonometric function value carry out approximate transform, make laser radar by oneself described in abbreviation 3-D imaging system angle error model, it is as follows：
    4) according to error propagation principle, point cloud error (Δ x, Δ y, the Δ for making laser radar 3-D imaging system by oneself is established z)TWith the range error Δ L, the angle error (azimuth angle errorPitching angle error) between mapping relations, It is as follows：
    Wherein, L is one-dimensional distance of any point in the self-control laser radar 3-D imaging system, Δ L in the target For the measurement error of any point one-dimensional distance L in the target；
    5) will the self-control laser radar 3-D imaging system angle error model conversation under rectangular coordinate system, obtain it is described from The point cloud error model of laser radar 3-D imaging system processed is as follows：
    6) N number of target is scanned using the self-control laser radar 3-D imaging system, obtains the target in institute State the coordinate (x in self-control laser radar 3-D imaging systemi,yi,zi)T, (i=1,2, N) and, as measured value；Using high-precision Spend spatial digitizer and rescan is carried out to the target, obtain coordinate of the target in the high-precision three-dimensional scanner (xi',yi',zi')T, (i=1,2 ..., N), it is transformed under the self-control laser radar 3-D imaging system, as true Value；The difference of the measured value and the actual value is point cloud error (the Δ x for making laser radar 3-D imaging system by oneselfi,Δ yi,Δzi)T, (i=1,2 ..., N)；According to the mapping relations between spherical coordinate system and rectangular coordinate system, obtained by the measured value To the one-dimensional distance L of the targeti, azimuthAnd the angle of pitchThe range error Δ L of the targetiIt is described it is one-dimensional away from From LiIt is considered as a known constant when in certain limit；
    7) model parameter in the self-control laser radar 3-D imaging system point cloud error model, i.e., described alignment error are solvedTo the self-control laser radar 3-D imaging system alignment errorPoint cloud error be corrected；Will Point cloud error (the Δ x of the self-control laser radar 3-D imaging systemi,Δyi,Δzi)T, (i=1,2 ..., N), the target One-dimensional distance Li, azimuthThe angle of pitchWith range error Δ LiSubstitute into the formula (4), it is individual non-linear to obtain 3*N Equation, determined by solving the nonlinear equation in the self-control laser radar 3-D imaging system point cloud error model The alignment errorBy the alignment errorSubstitution formula (4), it is described self-control laser radar three-dimensional into As the target point cloud coordinate (x, y, z) of systemTOn the basis of, after obtaining the self-control laser radar 3-D imaging system correction The target point cloud coordinate (x+ Δs x, y+ Δ y, z+ Δ z)T。
  2. 2. a kind of point cloud error calibration method based on self-control ground laser radar alignment error according to claim 1, Characterized in that, establish the self-control laser radar 3-D imaging system coordinate system (O-XYZ)；The self-control laser radar is three-dimensional The pitch axis of imaging system is defined as the machine shaft of 45 ° of tilting mirrors, and azimuth axis is defined as the rotating shaft of the head；Preferable feelings Under condition, the incident light and the pitching overlapping of axles；The reflecting surface center of 45 ° of tilting mirrors, i.e., described ideal incident light are incident Intersection point on to the reflecting surface is origin of coordinates O；With the pitching overlapping of axles, positive direction incides with the ideal incident light Direction identical reference axis on 45 ° of tilting mirrors is defined as X-axis；Exit direction identical initial with the ideal incident light is sat Parameter is defined as Y-axis；With the orientation overlapping of axles, the reference axis of positive direction straight up is defined as Z axis.
  3. 3. a kind of point cloud error calibration method based on self-control ground laser radar alignment error according to claim 1, Characterized in that, establish by the alignment errorThe caused self-control laser radar 3-D imaging system angle measurement Error model and abbreviation；Due to angle β, the actual incidence between the actual incident light and the pitch axis (X-axis) be present Angle be present between opposite vector and the azimuth axis (Z axis) that light projects in the YOZ planesFrom Z axis positive axis Calculate, clockwise for just, scope is 0 ° to 360 °；The self-control laser radar 3-D imaging system angle error model is built Vertical process is as follows：
    Initially 45 ° of tilting mirror normals unit vector is (under the O-XYZ coordinate systems)：
    Ideally emergent ray is by a point P in the target, and now (O-XYZ is sat 45 ° of tilting mirror normal vectors Under mark system) be：
    In formula (6)For the pitch angle measurement value of a point P in the target,For the side of a point P in the target Parallactic angle measured value,Respectively around described in the X-axis rotate counterclockwiseAngle, around the Z axis inverse time Described in pin rotationThe spin matrix at angle, the spin matrix are as follows：
    Formula (5) and formula (7) are substituted into formula (6), the normal vector that can obtain 45 ° of tilting mirrors under the O-XYZ coordinate systems is as follows：
    Initially the actual incident light vector isAfter the cloud platform rotation It is changed intoVector form by light reflection law isTrying to achieve outgoing light vector isAccording to the transformational relation between spherical coordinates and rectangular co-ordinate, such as following formula (9), can try to achieve the azimuth with The actual value of the angle of pitch
    According to trigonometric function cy-pres doctrine, the azimuth angle errorWith the pitching angle errorCan be similar to following shape Formula：
    The obtained self-control laser radar 3-D imaging system angle error model includes the azimuth angle errorWith pitching Angle errorDescribe the angle error (azimuth angle errorPitching angle error) and the alignment errorAnd the azimuthThe angle of pitchBetween mathematical relationship；
    According to trigonometric function cy-pres doctrine sin β=β, cos β=1, and rationally clipped β high-order term, obtain institute after abbreviation It is as follows to state self-control laser radar 3-D imaging system angle error model：
  4. 4. a kind of point cloud error calibration method based on self-control ground laser radar alignment error according to claim 1, Characterized in that, the angle error model conversion in the self-control laser radar 3-D imaging system spherical coordinate system is to the self-control Point cloud error model in laser radar 3-D imaging system rectangular coordinate system；The self-control laser radar 3-D imaging system is swept The one-dimensional distance L of a point P, the azimuth in the target can be directly obtained after retouchingWith the angle of pitchSurvey Value, obtained according under formula (9) conversion to the self-control laser radar 3-D imaging system rectangular coordinate system one in the target Point P 3 d space coordinate (x, y, z)T；
    Due to the range error Δ L and the angle error (azimuth angle error be presentPitching angle error), the mesh The coordinates measurements for putting on a point P are P'(x+ Δs x, y+ Δ y, z+ Δ z), wherein (Δ x, Δ y, Δ z)TFor the point of the target Cloud error, according to formula of error transmission, it is as follows to obtain the self-control laser radar 3-D imaging system point cloud error model：
  5. 5. a kind of point cloud error calibration method based on self-control ground laser radar alignment error according to claim 1, Characterized in that, Coordinate Conversion of the target in the high-precision three-dimensional scanner to it is described self-control laser radar three-dimensional into As in system；The alignment error in the self-control laser radar 3-D imaging system point cloud error modelNot Know and be not easy to measure, therefore using in the self-control laser radar 3-D imaging system and the high-precision three-dimensional scanner Point cloud coordinate data solves the alignment errorRealize point cloud error correction；Utilize the self-control laser radar three Dimension imaging system is scanned to N number of target, is obtained all a little three-dimensional in the self-control laser radar in the target Coordinate (x under imaging system coordinate systemi,yi,zi)T, (i=1,2 ..., N), as measured value；The measured value is substituted into formula (9) the one-dimensional distance L of all targets, is obtainedi, the angle of pitchAnd azimuthUtilize the high-precision three-dimensional scanner The identical target is scanned, obtains in the target coordinate a little under the high-precision three-dimensional scanner coordinate system (xi',yi',zi')T, (i=1,2 ..., N)；Due to (the xi,yi,zi)TWith (the xi',yi',zi')TIn different seats Under mark system, therefore (the x by described ini',yi',zi')TUnder conversion to the self-control laser radar 3-D imaging system coordinate system, as Actual value；Spin matrix R and translation vector of the high-precision three-dimensional scanner to the self-control laser radar 3-D imaging system Measure T and represent as follows：
    Formula (13) is around the angle of each axle rotate counterclockwise of the high-precision three-dimensional scanner coordinate system respectively with a, b, c in (14) Degree, x0、y0、z0It is the displacement on described tri- directions of X, Y, Z respectively, (the xi',yi',zi')TIn the self-control laser radar Coordinate in 3-D imaging system is as follows：
  6. A kind of 6. point cloud error correction side based on self-control ground laser radar alignment error according to claim 1 or 5 Method, it is characterised in that solve the model parameter in the self-control laser radar 3-D imaging system point cloud error model, i.e., it is described Alignment errorThe self-control laser radar 3-D imaging system point cloud error model can be written as form：
    The range error Δ LiMainly range-measuring circuit is influenceed in by the self-control laser radar 3-D imaging system, described one Tie up distance LiIt is a known constant when in certain limit；(the x by described ini,yi,zi)T, (the xi',yi',zi')T, it is described One-dimensional distance Li, the azimuthWith the angle of pitchSubstitution formula (15) and formula (16), 3*N is solved based on least square method Individual nonlinear equation, it may be determined that the spin matrix R and translation vector T (a, b, c, the x0,y0,z0) with described it is directed at mistake DifferenceTotally 8 unknown quantitys.
  7. 7. a kind of point cloud error calibration method based on self-control ground laser radar alignment error according to claim 1, Characterized in that, utilize the alignment error for solving gainedImprove the self-control laser radar 3-D imaging system Point cloud error model, realize to it is described self-control laser radar 3-D imaging system alignment error point cloud error correction；By institute State alignment errorSubstitution formula (11) and formula (12), the point cloud for obtaining the self-control laser radar 3-D imaging system miss Difference (Δ x, Δ y, Δ z)T, in the target point cloud coordinate (x, y, z) of the self-control laser radar 3-D imaging systemTBasis On, the self-control laser radar 3-D imaging system is obtained to the alignment error The target point cloud after correction Coordinate (x+ Δs x, y+ Δ y, z+ Δ z)T。
  8. 8. a kind of point cloud error calibration method based on self-control ground laser radar alignment error according to claim 1, Characterized in that, the target for the self-control laser radar 3-D imaging system alignment error point cloud error correction includes But it is not limited to all objects for obtaining point space coordinate in the target such as the reflective target of target ball, plane.
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