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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李小路
徐立军
李昀晔
谢鑫浩
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Beihang University
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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    • G01S7/497Means for monitoring or calibrating
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02Systems using the reflection of electromagnetic waves other than radio waves
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    • G01S17/42Simultaneous measurement of distance and other co-ordinates

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Abstract

本发明公开一种基于自制地基激光雷达对准误差的点云误差校正方法,该方法主要针对自制激光雷达系统45°转镜配合云台转动的扫描方式,通过计算入射光与俯仰轴之间对准误差对自制系统测角误差的影响,建立自制激光雷达系统点云误差校正模型,采用高精度三维扫描仪对目标的扫描点云坐标作为真实值求解对准误差,从而实现自制激光雷达系统对准误差对目标点云的误差校正。所述方法主要包括以下三步:1)建立由对准误差引起的自制激光雷达三维成像系统测角误差模型并化简;2)得到自制激光雷达三维成像系统点云误差模型;3)求解自制激光雷达三维成像系统点云误差模型中的对准误差,并根据模型对自制激光雷达系统目标点云进行校正。

The invention discloses a point cloud error correction method based on the self-made ground-based laser radar alignment error. The method is mainly aimed at the scanning mode of the self-made laser radar system with a 45° rotating mirror and a pan-tilt rotation, by calculating the alignment between the incident light and the pitch axis. The influence of the alignment error on the angle measurement error of the self-made system, the point cloud error correction model of the self-made lidar system is established, and the point cloud coordinates of the target scanned by the high-precision 3D scanner are used as the real value to solve the alignment error, so as to realize the alignment error of the self-made lidar system The error correction of the quasi-error to the target point cloud. The method mainly includes the following three steps: 1) establishing and simplifying the angle measurement error model of the self-made LiDAR 3D imaging system caused by alignment errors; 2) obtaining the point cloud error model of the self-made LiDAR 3D imaging system; 3) solving the self-made The alignment error in the point cloud error model of the LiDAR 3D imaging system, and correct the target point cloud of the self-made LiDAR system according to the model.

Description

一种基于自制地基激光雷达对准误差的点云误差校正方法A point cloud error correction method based on self-made ground-based lidar alignment error

技术领域technical field

本发明涉及激光雷达测量技术领域,尤其是一种基于自制地基激光雷达对准误差的点云误差校正方法The invention relates to the technical field of laser radar measurement, in particular to a point cloud error correction method based on self-made ground-based laser radar alignment error

背景技术Background technique

激光雷达测量技术是近些年来快速发展的一种新兴主动遥感技术,一般采用非接触式测量技术,在遥感、军事探测、海洋测绘、大气勘探领域有着广泛的应用。激光雷达中的三维扫描测量技术在传统单点测量技术的基础上,通过高速激光扫描的方式,可以快速获取目标物体表面的高分辨率点云数据,该项技术具有数据处理简单、快速性、主动性、抗干扰能力强、测量精度高、范围大等优点。但激光雷达扫描精度很大程度上受到自身仪器精度影响,实际使用中,仪器的精度本身不完全符合其标称精度,或者因使用时的外力碰撞、外界条件变化、长时间使用带来的损耗以及其他未知因素造成仪器性能不稳定,扫描结果可能出现系统性误差。因此,有效消除激光雷达仪器误差,是提高扫描点云精度的关键。Lidar measurement technology is a new active remote sensing technology that has developed rapidly in recent years. It generally uses non-contact measurement technology and has a wide range of applications in remote sensing, military detection, oceanographic mapping, and atmospheric exploration. Based on the traditional single-point measurement technology, the three-dimensional scanning measurement technology in LiDAR can quickly obtain high-resolution point cloud data on the surface of the target object through high-speed laser scanning. This technology has the advantages of simple data processing, rapidity, It has the advantages of initiative, strong anti-interference ability, high measurement accuracy and large range. However, the scanning accuracy of lidar is largely affected by the accuracy of its own instrument. In actual use, the accuracy of the instrument itself does not fully meet its nominal accuracy, or the loss caused by external force collisions during use, changes in external conditions, and long-term use And other unknown factors cause unstable performance of the instrument, and systematic errors may appear in the scanning results. Therefore, effectively eliminating the error of the lidar instrument is the key to improving the accuracy of the scanning point cloud.

根据现有研究成果,激光雷达主要分为机载激光雷达和地面激光雷达两大类,关于激光雷达三维成像系统的点云误差校正方法也各有不同,第一类基于机载激光雷达系统的标定方法以飞行自标定为主,基本思想是利用激光对已知的目标点或者相对目标点进行扫描,对过程中产生的固定偏移量进行参数估计,包括重叠航带标定技术、最小二乘平差法几何标定技术等。其中,重叠航带标定技术对航带拼接技术有着较高的要求;平差法求解中的假设前提条件一般难以成立,可能造成参数估计精度下降等问题。上述机载激光雷达系统的标定方法和本发明无对比,无借鉴。According to the existing research results, lidar is mainly divided into two categories: airborne lidar and ground lidar. The point cloud error correction methods of lidar 3D imaging systems are also different. The first type is based on airborne lidar system. The calibration method is mainly based on flight self-calibration. The basic idea is to use laser to scan known target points or relative target points, and estimate the parameters of the fixed offset generated in the process, including overlapping strip calibration technology, least squares Adjustment geometric calibration technology, etc. Among them, the calibration technology of overlapping flight belts has higher requirements on the technology of flight belt splicing; the assumptions and preconditions in the solution of the adjustment method are generally difficult to establish, which may cause problems such as a decrease in the accuracy of parameter estimation. There is no comparison between the calibration method of the above-mentioned airborne laser radar system and the present invention, and there is no reference.

第二类基于地面激光雷达系统的标定方法绝大多数是在室内或者基线场完成,一些涉及点位精度的检定实验主要采用公共点转换的方法,大多采用系统配套的标靶进行试验,包括空间长度检测法、自检校法等。空间长度检测法对检测场有着较高要求,需要场地具有很高精度,较依赖扫描目标布设的精度;自检校法一般采用全站仪、经纬仪等仪器对激光雷达系统建立检校模型,模型一般包含坐标系旋转角、平移量以及仪器内部误差等参数,将这些参数作为未知量经过统一求解得出来,该方法可以通过增加参数的方式不断完善误差模型,提高系统误差的校正精度,检校激光雷达系统的范围比较广泛,且对目标物体的布设精度没有十分高的要求。本发明就属于一种系统自检校方法。The second type of calibration methods based on ground-based lidar systems are mostly done indoors or in the baseline field. Some calibration experiments involving point accuracy mainly use the method of public point conversion, and most of them use the matching targets of the system for testing, including space Length detection method, self-test calibration method, etc. The space length detection method has high requirements on the detection field, requires the site to have high precision, and relies more on the accuracy of the scanning target layout; the self-inspection calibration method generally uses total stations, theodolites and other instruments to establish calibration models for the laser radar system, and the model It generally includes parameters such as the rotation angle of the coordinate system, the translation amount, and the internal error of the instrument. These parameters are obtained as unknown quantities through a unified solution. This method can continuously improve the error model by adding parameters, improve the correction accuracy of the system error, and check The scope of the lidar system is relatively wide, and there is no very high requirement for the layout accuracy of the target object. The invention belongs to a system self-checking and calibrating method.

根据现有专利局提供的专利查阅,地面激光雷达系统的自检校方法主要分为以下两类:第一类方法采用公共标志点得到待校准系统与高精度扫描仪之间的坐标旋转、平移量,直接以待校准系统测量值与标准测量值之差作为系统空间坐标测量误差。该类方法针对所有空间三维坐标测量系统,得到空间坐标测量相对误差,其缺点是仅在三维点云层面评估和校正误差,未构建系统误差模型,且需要大量样本数据才能实现精确校正;上述专利包括在中国专利200810147441.9中公开的“一种电子经纬仪空间坐标测量系统的校准方法”。第二类方法采用统计学方法对系统测距误差和测角误差的概率密度分布进行分析,得到三维坐标系中的误差修正样本。该类方法针对所有三维坐标测量系统,得到系统误差修正模型,其缺点是系统误差模型参数没有物理意义,并未针对系统本身扫描方式从误差源的角度进行理论分析,因此依赖大样本数据才能实现精确校正;上述专利包括在中国专利201710014687.8中公开的“一种远距离扫描激光雷达测量误差的修正方法”。According to the patent review provided by the existing patent office, the self-checking and calibration methods of the terrestrial lidar system are mainly divided into the following two categories: the first category uses public marker points to obtain the coordinate rotation and translation between the system to be calibrated and the high-precision scanner directly take the difference between the measured value of the system to be calibrated and the standard measured value as the measurement error of the system space coordinates. This type of method obtains the relative error of spatial coordinate measurement for all spatial three-dimensional coordinate measurement systems. Its disadvantage is that it only evaluates and corrects errors at the three-dimensional point cloud level, does not build a system error model, and requires a large amount of sample data to achieve accurate correction; the above patent Including "a calibration method for an electronic theodolite space coordinate measuring system" disclosed in Chinese patent 200810147441.9. The second type of method uses statistical methods to analyze the probability density distribution of the system ranging error and angle measuring error, and obtains the error correction samples in the three-dimensional coordinate system. This type of method obtains a system error correction model for all three-dimensional coordinate measurement systems. Its disadvantage is that the parameters of the system error model have no physical meaning, and it does not conduct theoretical analysis on the scanning mode of the system itself from the perspective of error sources. Therefore, it depends on large sample data to achieve Accurate correction; the above-mentioned patents include "a correction method for long-distance scanning laser radar measurement error" disclosed in Chinese patent 201710014687.8.

本发明与现有系统自检校方法专利的主要区别在于:提出了一种针对系统本身扫描方式从误差源的角度进行理论分析、利用少量目标点实现自制地基激光雷达对准误差点云误差校正的方法,适用于所有采用45°转镜配合云台转动扫描方式的三维扫描系统。本发明在激光雷达测量技术领域具有广阔的应用前景。The main difference between the present invention and the existing system self-checking and calibration method patents is that it proposes a theoretical analysis of the scanning mode of the system itself from the perspective of error sources, and uses a small number of target points to realize self-made ground-based lidar alignment error point cloud error correction The method is applicable to all 3D scanning systems that use a 45° rotating mirror and a pan-tilt rotating scanning method. The invention has broad application prospects in the technical field of laser radar measurement.

发明内容Contents of the invention

本发明公开一种基于自制地基激光雷达对准误差的点云误差校正方法,其特征在于,该方法针对自制激光雷达三维成像系统中45°转镜配合云台转动的扫描方式,其中所述自制激光雷达三维成像系统包括光学系统、扫描机构(电机、45°转镜)、云台;入射光经所述光学系统出射到所述45°转镜中心(O点),伴随所述扫描机构垂直旋转、所述云台水平旋转从所述自制激光雷达三维成像系统中出射;所述自制激光雷达三维成像系统的坐标系(O-XYZ)包括俯仰轴(X轴)、初始出射光线方向(Y轴)和方位轴(Z轴);理想情况下,所述入射光与所述俯仰轴(X轴)重合,但实际情况下所述入射光与所述俯仰轴(X轴)之间存在夹角β,所述入射光在YOZ平面上投影的相反向量与所述方位轴(Z轴)之间存在夹角所述对准误差定义为:①所述实际入射光与所述俯仰轴(X轴)之间的夹角β;②所述实际入射光在所述YOZ平面上投影的相反向量与所述方位轴(Z轴)之间的夹角从Z轴正半轴起算,顺时针方向为正,范围为0°至360°;目标上一点P在所述坐标系(O-XYZ)中一维距离L定义为的长度,方位角定义为在XOY平面的投影与X轴的夹角,从X轴正半轴起算,逆时针方向为正,范围为0°至360°,俯仰角定义为90°与和Z轴之间夹角的差,所述一维距离L、所述方位角和所述俯仰角的测量误差分别为测距误差ΔL、方位角误差和俯仰角误差通过理论分析所述对准误差对所述自制激光雷达三维成像系统测角误差(方位角误差俯仰角误差)的影响,建立所述自制激光雷达三维成像系统的测角误差模型;所述目标的点云定义为目标上一点的直角坐标(x,y,z)T,目标的点云误差定义为所述目标点云的坐标测量值与真实值的偏差(Δx,Δy,Δz)T,根据所述目标的点云误差(Δx,Δy,Δz)T与所述目标测角误差(方位角误差俯仰角误差)之间的误差传递原则,建立所述自制激光雷达三维成像系统的点云误差模型如下:The invention discloses a point cloud error correction method based on the self-made ground-based laser radar alignment error, which is characterized in that the method is aimed at the scanning mode of the 45° rotating mirror and the pan-tilt rotation in the self-made laser radar three-dimensional imaging system, wherein the self-made The laser radar three-dimensional imaging system includes an optical system, a scanning mechanism (motor, 45 ° rotating mirror), and a cloud platform; the incident light is emitted to the center (O point) of the 45 ° rotating mirror through the optical system, and the scanning mechanism is vertical Rotation, the horizontal rotation of the platform are emitted from the self-made laser radar three-dimensional imaging system; the coordinate system (O-XYZ) of the self-made laser radar three-dimensional imaging system includes a pitch axis (X axis), an initial outgoing light direction (Y axis) and azimuth axis (Z axis); ideally, the incident light coincides with the pitch axis (X axis), but in practice there is a gap between the incident light and the pitch axis (X axis) Angle β, there is an angle between the opposite vector projected by the incident light on the YOZ plane and the azimuth axis (Z axis) The alignment error is defined as: ① the angle β between the actual incident light and the pitch axis (X axis); ② the opposite vector of the actual incident light projected on the YOZ plane and the azimuth Angle between axes (Z-axis) Counting from the positive semi-axis of the Z axis, the clockwise direction is positive, and the range is 0° to 360°; the one-dimensional distance L of a point P on the target in the coordinate system (O-XYZ) is defined as length, azimuth defined as The angle between the projection on the XOY plane and the X-axis is calculated from the positive semi-axis of the X-axis, and the counterclockwise direction is positive, the range is 0° to 360°, and the pitch angle defined as 90° with and the angle difference between the Z axis, the one-dimensional distance L, the azimuth angle and the pitch angle The measurement errors are ranging error ΔL, azimuth angle error and pitch error The alignment error is analyzed by theoretical For the self-made laser radar three-dimensional imaging system angle measurement error (azimuth angle error pitch angle error ), the angle measurement error model of the self-made lidar three-dimensional imaging system is established; the point cloud of the target is defined as the Cartesian coordinates (x, y, z) T of a point on the target, and the point cloud error of the target is defined as the The deviation (Δx, Δy, Δz) T between the coordinate measurement value of the target point cloud and the true value, according to the point cloud error (Δx, Δy, Δz) T of the target and the angle measurement error (azimuth angle error) of the target pitch angle error ), the point cloud error model of the self-made lidar three-dimensional imaging system is established as follows:

得到所述自制激光雷达三维成像系统对所述对准误差校正后的所述目标点云坐标为:Obtain the homemade lidar 3D imaging system for the alignment error The corrected target point cloud coordinates are:

(x+Δx,y+Δy,z+Δz)T (x+Δx,y+Δy,z+Δz) T

从而实现对所述自制激光雷达三维成像系统对准误差的点云误差校正;Thereby realizing the alignment error of the self-made lidar 3D imaging system Point cloud error correction;

所述方法主要包括以下七步:The method mainly includes the following seven steps:

1)建立所述自制激光雷达三维成像系统坐标系(O-XYZ);所述目标上任意一点P在所述坐标系(O-XYZ)中的测量值为方位角俯仰角所述目标上任意一点P在所述坐标系(O-XYZ)中的真实值为方位角俯仰角所述差值为方位角误差所述差值为俯仰角误差 1) Establish the coordinate system (O-XYZ) of the self-made laser radar three-dimensional imaging system; the measured value of any point P on the target in the coordinate system (O-XYZ) is the azimuth angle Pitch angle The true value of any point P on the target in the coordinate system (O-XYZ) is the azimuth Pitch angle said with The difference is the azimuth error said with The difference is the pitch angle error

2)建立由所述对准误差引起的所述自制激光雷达三维成像系统测角误差模型;该模型分别描述了所述测角误差(方位角误差俯仰角误差)和所述对准误差以及所述目标的方位角俯仰角之间的数学关系,如下所示:2) Establish the alignment error by the The angle measurement error model of the self-made laser radar three-dimensional imaging system caused; This model describes the angle measurement error (azimuth angle error) respectively pitch angle error ) and the alignment error and the azimuth of the target Pitch angle The mathematical relationship between them is as follows:

3)基于对所述对准误差的三角函数值进行近似变换,化简所述自制激光雷达三维成像系统测角误差模型,如下所示:3) Based on the alignment error for the The value of the trigonometric function is approximately transformed, and the angle measurement error model of the self-made lidar 3D imaging system is simplified, as follows:

4)根据误差传递原则,建立所述自制激光雷达三维成像系统的点云误差(Δx,Δy,Δz)T与所述测距误差ΔL、所述测角误差(方位角误差俯仰角误差)之间的映射关系,如下所示:4) According to the principle of error transmission, establish the point cloud error (Δx, Δy, Δz) T of the self-made lidar three-dimensional imaging system and the distance measurement error ΔL, the angle measurement error (azimuth error pitch angle error ) between the mapping relationship, as follows:

其中,L为所述目标上任意一点在所述自制激光雷达三维成像系统中的一维距离,ΔL为所述目标上任意一点一维距离L的测量误差;Wherein, L is the one-dimensional distance of any point on the target in the self-made laser radar three-dimensional imaging system, and ΔL is the measurement error of the one-dimensional distance L of any point on the target;

5)将所述自制激光雷达三维成像系统测角误差模型转化到直角坐标系下,得到所述自制激光雷达三维成像系统的点云误差模型如下:5) The angle measurement error model of the self-made laser radar three-dimensional imaging system is transformed into a Cartesian coordinate system, and the point cloud error model of the self-made laser radar three-dimensional imaging system is obtained as follows:

6)利用所述自制激光雷达三维成像系统对N个所述目标进行扫描,得到所述目标在所述自制激光雷达三维成像系统中的坐标(xi,yi,zi)T,(i=1,2,…,N),作为测量值;利用高精度三维扫描仪对所述目标进行二次扫描,得到所述目标在所述高精度三维扫描仪中的坐标(x′i,y′i,z′i)T,(i=1,2,…,N),将其转化到所述自制激光雷达三维成像系统下,作为真实值;所述测量值与所述真实值之差为所述自制激光雷达三维成像系统的点云误差(Δxi,Δyi,Δzi)T,(i=1,2,…,N);根据球坐标系与直角坐标系之间的映射关系,由所述测量值得到所述目标的一维距离Li、方位角和俯仰角所述目标的测距误差ΔLi在所述一维距离Li处于一定范围内时视为一个已知常数;6) Using the self-made laser radar three-dimensional imaging system to scan the N targets, and obtain the coordinates ( xi , y i , z i ) T of the target in the self-made laser radar three-dimensional imaging system, (i =1,2,...,N), as the measured value; use the high-precision three-dimensional scanner to scan the target twice to obtain the coordinates of the target in the high-precision three-dimensional scanner (x′ i , y ′ i , z′ i ) T , (i=1,2,…,N), transform it into the self-made lidar three-dimensional imaging system as the real value; the difference between the measured value and the real value is the point cloud error (Δx i , Δy i , Δz i ) T of the self-made lidar three-dimensional imaging system, (i=1,2,...,N); according to the mapping relationship between the spherical coordinate system and the rectangular coordinate system , get the one-dimensional distance L i and azimuth of the target from the measured value and pitch angle The ranging error ΔL i of the target is regarded as a known constant when the one-dimensional distance L i is within a certain range;

7)求解所述自制激光雷达三维成像系统点云误差模型中的模型参数,即所述对准误差 对所述自制激光雷达三维成像系统对准误差的点云误差进行校正;将所述自制激光雷达三维成像系统的点云误差(Δxi,Δyi,Δzi)T,(i=1,2,…,N)、所述目标的一维距离Li、方位角俯仰角和测距误差ΔLi代入所述公式(4)中,得到3*N个非线性方程,通过求解所述非线性方程确定所述自制激光雷达三维成像系统点云误差模型中的所述对准误差将所述对准误差代入式(4),在所述自制激光雷达三维成像系统的所述目标点云坐标(x,y,z)T基础上,得到所述自制激光雷达三维成像系统校正后的所述目标点云坐标(x+Δx,y+Δy,z+Δz)T7) Solve the model parameters in the point cloud error model of the self-made lidar three-dimensional imaging system, that is, the alignment error Alignment error of the self-made lidar 3D imaging system The point cloud error of the self -made lidar three -dimensional imaging system is corrected ; distance L i , azimuth angle Pitch angle and ranging error ΔL i are substituted into the formula (4), 3*N nonlinear equations are obtained, and the alignment in the self-made lidar three-dimensional imaging system point cloud error model is determined by solving the nonlinear equations error The alignment error Substituting into formula (4), on the basis of the target point cloud coordinates (x, y, z) T of the self-made laser radar three-dimensional imaging system, the corrected target point cloud of the self-made laser radar three-dimensional imaging system is obtained Coordinates (x+Δx,y+Δy,z+Δz) T .

其中,建立所述自制激光雷达三维成像系统坐标系(O-XYZ);所述自制激光雷达三维成像系统的俯仰轴定义为所述45°转镜的电机转轴,方位轴定义为所述云台的转轴;理想情况下,所述入射光与所述俯仰轴重合;所述45°转镜的反射面中心,即所述理想入射光入射到所述反射面上的交点为坐标原点O;与所述俯仰轴重合,正方向与所述理想入射光入射到所述45°转镜上的方向相同的坐标轴定义为X轴;与所述理想入射光初始出射方向相同的坐标轴定义为Y轴;与所述方位轴重合,正方向竖直向上的坐标轴定义为Z轴。Wherein, set up described self-made laser radar three-dimensional imaging system coordinate system (O-XYZ); The pitch axis of described self-made laser radar three-dimensional imaging system is defined as the motor shaft of the 45 ° rotating mirror, and the azimuth axis is defined as the cloud platform The axis of rotation; ideally, the incident light coincides with the pitch axis; the center of the reflective surface of the 45° rotating mirror, that is, the intersection point where the ideal incident light is incident on the reflective surface is the coordinate origin O; and The pitch axes coincide, and the coordinate axis whose positive direction is the same as the direction in which the ideal incident light is incident on the 45° rotating mirror is defined as the X axis; the coordinate axis that is the same as the initial outgoing direction of the ideal incident light is defined as Y Axis; coincident with the azimuth axis, the coordinate axis vertically upward in the positive direction is defined as the Z axis.

其中,建立由所述对准误差引起的所述自制激光雷达三维成像系统测角误差模型并化简;由于所述实际入射光与所述俯仰轴(X轴)之间存在夹角β,所述实际入射光在所述YOZ平面上投影的相反向量与所述方位轴(Z轴)之间存在夹角从Z轴正半轴起算,顺时针方向为正,范围为0°至360°;where, established by the alignment error The angle measurement error model of the self-made lidar three-dimensional imaging system caused by it is simplified; because there is an angle β between the actual incident light and the pitch axis (X axis), the actual incident light is in the YOZ plane There is an angle between the opposite vector of the upward projection and the azimuth axis (Z axis) Counting from the positive semi-axis of the Z axis, the clockwise direction is positive, and the range is 0° to 360°;

所述自制激光雷达三维成像系统测角误差模型的建立过程如下:The establishment process of the self-made laser radar three-dimensional imaging system angle measurement error model is as follows:

初始所述45°转镜法线单位矢量(所述O-XYZ坐标系下)为:The initial normal unit vector of the 45° rotating mirror (under the O-XYZ coordinate system) is:

理想情况下出射光线经过所述目标上一点P,此时所述45°转镜法线矢量(所述O-XYZ坐标系下)为:Ideally, the outgoing ray passes through a point P on the target. At this time, the normal vector of the 45° rotating mirror (under the O-XYZ coordinate system) is:

式(6)中为所述目标上一点P的所述俯仰角测量值,为所述目标上一点P的所述方位角测量值, 分别为绕所述X轴逆时针旋转所述角、绕所述Z轴逆时针旋转所述角的旋转矩阵,所述旋转矩阵如下:In formula (6) is the measured value of the pitch angle of a point P on the target, is the azimuth measurement value of a point P on the target, are respectively rotated counterclockwise around the X-axis by the angle, rotate the Z axis counterclockwise the The rotation matrix of the angle, the rotation matrix is as follows:

将式(5)和式(7)代入式(6),可得所述O-XYZ坐标系下所述45°转镜的法线矢量如下:Substituting formula (5) and formula (7) into formula (6), the normal vector of the 45 ° rotating mirror under the O-XYZ coordinate system can be obtained as follows:

初始所述实际入射光矢量为经所述云台转动后变为 由光反射定律的矢量形式为求得出射光矢量为 根据球坐标与直角坐标之间的转换关系,如下式(9),可求得所述方位角与所述俯仰角的真实值 Initially the actual incident light vector is After the pan-tilt rotates, it becomes The vector form of the light reflection law is Find the outgoing light vector as According to the conversion relationship between spherical coordinates and rectangular coordinates, as shown in the following formula (9), the true values of the azimuth angle and the pitch angle can be obtained

根据三角函数近似原则,所述方位角误差与所述俯仰角误差可以近似成如下形式:According to the principle of trigonometric function approximation, the azimuth error The pitch error with the It can be approximated as follows:

得到的所述自制激光雷达三维成像系统测角误差模型包括所述方位角误差与俯仰角误差描述了所述测角误差(方位角误差俯仰角误差)和所述对准误差以及所述方位角所述俯仰角之间的数学关系;The obtained angle measurement error model of the self-made lidar three-dimensional imaging system includes the azimuth error and pitch error describes the angular error (azimuth error pitch angle error ) and the alignment error and the azimuth The pitch angle the mathematical relationship between

根据三角函数近似原则sinβ=β,cosβ=1,并合理省略部分β的高次项,得到化简后所述自制激光雷达三维成像系统测角误差模型如下:According to the trigonometric function approximation principle sinβ=β, cosβ=1, and reasonably omit some high-order terms of β, the angle measurement error model of the self-made lidar 3D imaging system after simplification is obtained as follows:

其中,所述自制激光雷达三维成像系统球坐标系中的测角误差模型转换至所述自制激光雷达三维成像系统直角坐标系中的点云误差模型;所述自制激光雷达三维成像系统扫描后可以直接得到所述目标上一点P的所述一维距离L、所述方位角与所述俯仰角的测量值,根据式(9)转换至所述自制激光雷达三维成像系统直角坐标系下得到所述目标上一点P的空间三维坐标(x,y,z)TWherein, the angle measurement error model in the spherical coordinate system of the self-made laser radar three-dimensional imaging system is converted to the point cloud error model in the rectangular coordinate system of the self-made laser radar three-dimensional imaging system; the self-made laser radar three-dimensional imaging system can scan directly obtain the one-dimensional distance L and the azimuth of the point P on the target with the pitch angle The measured value is converted to the three-dimensional coordinates (x, y, z) T of a point P on the target under the Cartesian coordinate system of the self-made laser radar three-dimensional imaging system according to formula (9);

由于存在所述测距误差ΔL和所述测角误差(方位角误差俯仰角误差),所述目标上一点P的坐标测量值为P'(x+Δx,y+Δy,z+Δz),其中(Δx,Δy,Δz)T为所述目标的点云误差,根据误差传递公式,得所述自制激光雷达三维成像系统点云误差模型如下:Due to the existence of the distance measurement error ΔL and the angle measurement error (azimuth angle error pitch angle error ), the coordinate measurement value of a point P on the target is P'(x+Δx, y+Δy, z+Δz), where (Δx, Δy, Δz) T is the point cloud error of the target, according to the error transfer Formula, the point cloud error model of the self-made lidar 3D imaging system is obtained as follows:

其中,所述目标在所述高精度三维扫描仪中的坐标转换至所述自制激光雷达三维成像系统中;所述自 制激光雷达三维成像系统点云误差模型中的所述对准误差未知且不易测量,因此利用所述自制激光雷达三维成像系统与所述高精度三维扫描仪中的点云坐标数据求解所述对准误差实现点云误差校正;利用所述自制激光雷达三维成像系统对N个所述目标进行扫描,得到全部所述目标上一点在所述自制激光雷达三维成像系统坐标系下的坐标(xi,yi,zi)T,(i=1,2,…,N),作为测量值;将所述测量值代入式(9),得到全部所述目标的一维距离Li、俯仰角和方位角利用所述高精度三维扫描仪对相同所述目标进行扫描,得到所述目标上一点在所述高精度三维扫描仪坐标系下的坐标(x′i,y′i,z′i)T,(i=1,2,…,N);由于所述(xi,yi,zi)T与所述(x′i,y′i,z′i)T处于不同的坐标系下,因此将所述(x′i,y′i,z′i)T转换至所述自制激光雷达三维成像系统坐标系下,作为真实值;所述高精度三维扫描仪到所述自制激光雷达三维成像系统的旋转矩阵R和平移矢量T表示如下:Wherein, the coordinates of the target in the high-precision three-dimensional scanner are converted into the self-made laser radar three-dimensional imaging system; the alignment error in the point cloud error model of the self-made laser radar three-dimensional imaging system Unknown and difficult to measure, so use the self-made lidar 3D imaging system and the point cloud coordinate data in the high-precision 3D scanner to solve the alignment error Realize point cloud error correction; Utilize the self-made laser radar three-dimensional imaging system to scan N described targets, obtain the coordinates (x i , y i , z i ) T , (i=1,2,…,N), as measured values; substituting the measured values into formula (9), to obtain the one-dimensional distance L i and pitch angle of all the targets and azimuth Using the high-precision three-dimensional scanner to scan the same target, obtain the coordinates (x′ i , y′ i , z′ i ) T of a point on the target in the coordinate system of the high-precision three-dimensional scanner, (i=1,2,...,N); Since the ( xi ,y i , zi ) T and the (x' i ,y' i ,z' i ) T are in different coordinate systems, Therefore, the (x' i , y' i , z' i ) T is converted to the coordinate system of the self-made laser radar three-dimensional imaging system as a real value; The rotation matrix R and translation vector T of the imaging system are expressed as follows:

式(13)与(14)中a、b、c分别是绕所述高精度三维扫描仪坐标系各轴逆时针旋转的角度,x0、y0、z0分别是所述X、Y、Z三个方向上的位移,所述(x′i,y′i,z′i)T在所述自制激光雷达三维成像系统中的坐标如下:In formulas (13) and (14), a, b, and c are the counterclockwise rotation angles around each axis of the coordinate system of the high-precision three-dimensional scanner, and x 0 , y 0 , and z 0 are the X, Y, and The displacement in the three directions of Z, the coordinates of the (x' i , y' i , z' i ) T in the self-made laser radar three-dimensional imaging system are as follows:

其中,求解所述自制激光雷达三维成像系统点云误差模型中的模型参数,即所述对准误差所述自制激光雷达三维成像系统点云误差模型可写作如下形式:Wherein, solving the model parameters in the point cloud error model of the self-made lidar three-dimensional imaging system, that is, the alignment error The point cloud error model of the self-made lidar 3D imaging system can be written as follows:

所述测距误差ΔLi主要受所述自制激光雷达三维成像系统中测距电路影响,在所述一维距离Li处于一定范围内时为一个已知常数;将所述(xi,yi,zi)T、所述(x′i,y′i,z′i)T、所述一维距离Li、所述方位角和所述俯仰角代入式(15)与式(16),基于最小二乘法求解3*N个非线性方程,可以确定所述旋转矩阵R和所述平移矢量T(a,b,c,x0,y0,z0)与所述对准误差共8个未知量。The ranging error ΔL i is mainly affected by the ranging circuit in the self-made laser radar three-dimensional imaging system, and is a known constant when the one-dimensional distance L i is within a certain range; the ( xi , y i , z i ) T , the (x′ i ,y′ i , z′ i ) T , the one-dimensional distance L i , the azimuth and the pitch angle Substituting formula (15) and formula (16), and solving 3*N nonlinear equations based on the least square method, the rotation matrix R and the translation vector T(a, b, c, x 0 , y 0 , z 0 ) with the alignment error There are 8 unknowns in total.

其中,利用求解所得的所述对准误差完善所述自制激光雷达三维成像系统的点云误差模型,实现对所述自制激光雷达三维成像系统对准误差的点云误差校正;将所述对准误差代入式(11)和式(12),得到所述自制激光雷达三维成像系统的点云误差(Δx,Δy,Δz)T,在所述自制激光雷达三维成像系统的所述目标点云坐标(x,y,z)T基础上,得到所述自制激光雷达三维成像系统对所述对准误差校正后的所述目标点云坐标(x+Δx,y+Δy,z+Δz)TAmong them, using the alignment error obtained by solving Improve the point cloud error model of the self-made laser radar three-dimensional imaging system, realize the point cloud error correction of the alignment error of the self-made laser radar three-dimensional imaging system; Substituting formula (11) and formula (12), the point cloud error (Δx, Δy, Δz) T of the self-made lidar 3D imaging system is obtained, and the target point cloud coordinates ( On the basis of x, y, z) T , obtain the alignment error of the self-made laser radar three-dimensional imaging system The corrected target point cloud coordinates (x+Δx, y+Δy, z+Δz) T .

其中,用于所述自制激光雷达三维成像系统对准误差点云误差校正的所述目标包含但不限于标靶球、平面反光标靶等所有可获得所述目标上一点空间坐标的物体。Wherein, the target used for point cloud error correction of alignment error of the self-made lidar 3D imaging system includes, but is not limited to, all objects that can obtain the spatial coordinates of a point on the target, such as a target ball and a plane reflective target.

附图说明Description of drawings

图1是自制激光雷达三维成像系统对目标扫描的空间示意图;Figure 1 is a spatial schematic diagram of the self-made laser radar 3D imaging system scanning the target;

图2是自制地基激光雷达对准误差的点云误差校正流程示意图;Figure 2 is a schematic diagram of the point cloud error correction process for the self-made ground-based lidar alignment error;

图3是自制系统坐标系下入射光与俯仰轴之间对准误差示意图;Figure 3 is a schematic diagram of the alignment error between the incident light and the pitch axis in the self-made system coordinate system;

图4是自制系统全量程扫描过程中测角误差变化的仿真结果;Figure 4 is the simulation result of the angle measurement error change during the full-scale scanning process of the self-made system;

图5是自制系统测角误差模型化简前后测角误差仿真的对比结果;Figure 5 is the comparison result of the angle measurement error simulation before and after the simplification of the self-made system angle measurement error model;

图6是自制系统点云误差模型中参数确立的流程示意图;Fig. 6 is a schematic flow diagram of parameter establishment in the self-made system point cloud error model;

图7是自制系统点云误差模型中参数确立的扫描方案示意图;Fig. 7 is a schematic diagram of the scanning scheme established by parameters in the self-made system point cloud error model;

具体实施方式detailed description

以下结合附图对本发明专利的具体实施方式作进一步详细描述。基于自制地基激光雷达对准误差的点云误差校正方法流程示意图如图2所示,先建立自制激光雷达三维成像系统(713)坐标系O-XYZ,由于实际情况下自制系统中实际入射光(106)与俯仰轴X轴(201)之间存在对准误差(301、302),在自制激光雷达三维成像系统(713)坐标系下理论推导出对准误差(301、302)对于自制激光雷达三维成像系统(713)测角误差的影响,得到自制激光雷达三维成像系统(713)测角误差模型。根据三角函数近似原则,对自制激光雷达三维成像系统(713)测角误差模型进行化简。根据误差传递原则,将自制激光雷达三维成像系统(713)测角误差模型转化到直角坐标系下,得到自制激光雷达三维成像系统(713)点云误差模型。利用自制激光雷达三维成像系统(713)与高精度三维扫描仪(714)对相同标靶球(701-712)进行扫描,分别得到两组目标点云数据,在实现坐标系统一后将数据代入自制激光雷达三维成像系统(713)点云误差(说明书表达式(15)与(16))中,求解模型参数,即对准误差(301、302),并利用此结果实现自制激光雷达三维成像系统(713)点云的误差校正。故具体的实施方案可以分为四步:自制激光雷达三维成像系统测角误差模型的建立、自制激光雷达三维成像系统测角误差模型的化简、自制激光雷达三维成像系统点云误差模型的建立和模型的参数求解与校正。The specific implementation manner of the patent of the present invention will be further described in detail below in conjunction with the accompanying drawings. The flow diagram of the point cloud error correction method based on the self-made ground-based lidar alignment error is shown in Figure 2. First, the self-made lidar 3D imaging system (713) coordinate system O-XYZ is established, because the actual incident light in the self-made system ( 106) is misaligned with the pitch axis X axis (201) (301, 302), the alignment error is theoretically derived in the coordinate system of the self-made lidar 3D imaging system (713) (301, 302) For the influence of the angle measurement error of the self-made laser radar three-dimensional imaging system (713), an angle measurement error model of the self-made laser radar three-dimensional imaging system (713) is obtained. According to the principle of trigonometric function approximation, the angle measurement error model of the self-made LiDAR 3D imaging system (713) is simplified. According to the principle of error transfer, the angle measurement error model of the self-made LiDAR 3D imaging system (713) is transformed into a Cartesian coordinate system, and the point cloud error model of the self-made LiDAR 3D imaging system (713) is obtained. Use self-made laser radar 3D imaging system (713) and high-precision 3D scanner (714) to scan the same target ball (701-712) to obtain two sets of target point cloud data respectively, and substitute the data into In the point cloud error (expressions (15) and (16) of the manual) of the self-made lidar 3D imaging system (713), solve the model parameters, that is, the alignment error (301, 302), and use this result to realize the error correction of the point cloud of the self-made lidar three-dimensional imaging system (713). Therefore, the specific implementation plan can be divided into four steps: the establishment of the angle measurement error model of the self-made LiDAR 3D imaging system, the simplification of the angle measurement error model of the self-made LiDAR 3D imaging system, and the establishment of the point cloud error model of the self-made LiDAR 3D imaging system And model parameter solution and calibration.

(1)自制激光雷达三维成像系统测角误差模型的建立(1) Establishment of angle measurement error model of self-made LiDAR 3D imaging system

自制激光雷达三维成像系统(713)对目标(107)扫描的空间示意图如图1所示,自制激光雷达三维成像系统(713)进行扫描时,理想入射光(105)经过光学系统(101)后入射至45°转镜(103)中心O 点,该点作为坐标原点。电机(102)控制45°转镜(103)垂直旋转,电机(102)转轴即为俯仰轴,与X轴(201)重合,X轴(201)正方向与理想入射光(105)入射方向相同。同时云台(104)绕铅垂轴水平旋转,Z轴(203)与铅垂轴重合,且正方向竖直向上。建立右手坐标系,认为初始激光出射方向为Y轴(202)正方向,实现对三维空间的扫描。The spatial diagram of the target (107) scanned by the self-made laser radar three-dimensional imaging system (713) is shown in Figure 1. When the self-made laser radar three-dimensional imaging system (713) scans, the ideal incident light (105) passes through the optical system (101) Incident to point O in the center of the 45° rotating mirror (103), this point is taken as the coordinate origin. The motor (102) controls the vertical rotation of the 45° rotating mirror (103), the rotation axis of the motor (102) is the pitch axis, which coincides with the X-axis (201), and the positive direction of the X-axis (201) is the same as the incident direction of the ideal incident light (105) . At the same time, the cloud platform (104) rotates horizontally around the vertical axis, the Z axis (203) coincides with the vertical axis, and the positive direction is vertically upward. A right-handed coordinate system is established, and the initial laser emission direction is considered to be the positive direction of the Y axis (202), so as to realize the scanning of the three-dimensional space.

自制激光雷达三维成像系统(713)坐标系下入射光与俯仰轴之间对准误差(301、302)存在的示意图如图1和图3所示,实际情况下入射光(106)与俯仰轴(X轴)(201)之间存在夹角β(301),实际入射光(106)在YOZ平面上投影的相反向量与方位轴(Z轴)(203)之间存在夹角(302),从Z轴正半轴起算,顺时针方向为正,范围为0°至360°。目标物体(107)是一个标靶球,标靶球上任意一点为P点(108),认为出射光线在空间中经过P点(108),此时出射激光的方位角(303)和俯仰角(304)分别测量为O-XYZ坐标系下45°转镜(103)的法线矢量如下:The schematic diagrams of the alignment errors (301, 302) between the incident light and the pitch axis in the coordinate system of the self-made lidar 3D imaging system (713) are shown in Figures 1 and 3. In actual situations, the incident light (106) and the pitch axis There is an angle β (301) between (X-axis) (201), and there is an angle between the opposite vector of the actual incident light (106) projected on the YOZ plane and the azimuth axis (Z-axis) (203) (302), counting from the positive semi-axis of the Z axis, the clockwise direction is positive, and the range is from 0° to 360°. The target object (107) is a target ball, and any point on the target ball is point P (108). It is considered that the outgoing light passes through point P (108) in space. At this time, the azimuth (303) and pitch angle of the outgoing laser are (304) are measured as with The normal vector of the 45 ° rotating mirror (103) under the O-XYZ coordinate system is as follows:

实际入射光(106)矢量为由反射定律的矢量形式可以得到出射光矢量根据球坐标与直角坐标之间的转换关系,如式(9),可求得方位角(303)与俯仰角(304)的真实值根据三角函数近似原则,方位角误差与俯仰角误差可以近似成如下形式:The actual incident light (106) vector is From the vector form of the reflection law, the outgoing light vector can be obtained According to the conversion relationship between spherical coordinates and rectangular coordinates, such as formula (9), the true values of azimuth (303) and pitch angle (304) can be obtained According to the principle of trigonometric function approximation, the azimuth error and pitch error It can be approximated as follows:

最终建立的自制激光雷达三维成像系统(713)测角误差模型包括方位角误差与俯仰角误差误差模型结果如下:The angle measurement error model of the self-made lidar 3D imaging system (713) finally established includes the azimuth error and pitch error The error model results are as follows:

因此自制激光雷达三维成像系统(713)测角误差(方位角误差俯仰角误差)受对准误差 (301、302)以及方位角(303)、俯仰角(304)影响。假设自制激光雷达三维成像系统(713)对准误差(301、302)参量为β=5",垂直扫描范围为水平扫描范围为 自制激光雷达三维成像系统(713)全量程扫描过程中测角误差(方位角误差俯仰 角误差)变化的仿真结果如图4所示。结果表明:水平扫描过程中测角误差均不变;由下至上的垂直扫描过程中,方位角误差一直递增,俯仰角误差先递减后递增,测角误差的数量级均在10-5。该仿真结果可以直观地显示自制激光雷达三维成像系统(713)中存在一定对准误差(301、302)时,整个扫描过程中测角误差的变化情况。Therefore, the angle measurement error (azimuth angle error) of the self-made laser radar 3D imaging system (713) pitch angle error ) subject to alignment error (301, 302) and azimuth (303), pitch angle (304) influence. Assuming that the self-made laser radar three-dimensional imaging system (713) alignment error (301, 302) parameter is β=5", The vertical scanning range is The horizontal scan range is Angle measurement error (azimuth error pitch angle error ) The simulation results of the change are shown in Fig. 4. The results show that the angle measurement error remains unchanged during the horizontal scanning process; the azimuth error Always increasing, pitch angle error Decrease first and then increase, the order of magnitude of angle measurement error is 10 -5 . The simulation results can intuitively show that there is a certain alignment error in the self-made LiDAR 3D imaging system (713) (301, 302), the change of angle measurement error during the whole scanning process.

(2)自制激光雷达三维成像系统测角误差模型的化简(2) Simplification of the angle measurement error model of the self-made LiDAR 3D imaging system

上述自制激光雷达三维成像系统(713)测角误差模型较为复杂,需要进行合理简化。根据三角函数近似原则sinβ=β,cosβ=1,并且合理省略部分β的高次项,得到化简后的自制激光雷达三维成像系统(713)测角误差模型如下:The above-mentioned self-made lidar 3D imaging system (713) angle measurement error model is relatively complicated and needs to be simplified reasonably. According to the trigonometric function approximation principle sinβ=β, cosβ=1, and reasonably omit some high-order terms of β, the simplified angle measurement error model of the self-made LiDAR 3D imaging system (713) is obtained as follows:

假设对准误差(301、302)参量为β=5",垂直扫描范围为水平扫描范围为由分析可知由对准误差(301、302)引起的自制激光雷达三维成像系统(713)测角误差只随俯仰角(304)的改变而变化,比较化简前后的模型,自制激光雷达三维成像系统(713)测角误差模型化简前后仿真的对比结果如图5所示。结果表明:化简前后方位角误差与俯仰角误差随俯仰角(304)测量值变化相同,模型化简过程正确,将化简后的模型作为自制激光雷达三维成像系统(713)的测角误差模型。Assuming that the alignment error (301, 302) parameter is β=5", The vertical scanning range is The horizontal scan range is It can be seen from the analysis that the alignment error (301, 302) caused by the self-made LiDAR 3D imaging system (713) angle measurement error only increases with the pitch angle (304) changes with changes, compare the models before and after simplification, and the comparison results of the simulation before and after the simplification of the self-made lidar three-dimensional imaging system (713) angle measurement error model are shown in Figure 5. The results show that the azimuth error before and after simplification and pitch error with pitch angle (304) The changes of the measured values are the same, the model simplification process is correct, and the simplified model is used as the angle measurement error model of the self-made LiDAR 3D imaging system (713).

(3)自制激光雷达三维成像系统点云误差模型的建立(3) Establishment of the point cloud error model of the self-made lidar 3D imaging system

自制激光雷达三维成像系统(713)最终得到并显示的是目标标靶球(107)的点云数据,数据格式为直角坐标系下目标点(108)空间三维坐标(x,y,z)T(306),坐标转换的关系如式(9),其中L是目标点的一维距离(305)的测量值,是目标方位角(303)的测量值,是俯仰角(304)的测量值。The self-made laser radar three-dimensional imaging system (713) finally obtains and displays the point cloud data of the target target ball (107), and the data format is the three-dimensional coordinates (x, y, z) of the target point (108) in the Cartesian coordinate system . (306), the relation of coordinate conversion is as formula (9), and wherein L is the measured value of the one-dimensional distance (305) of target point, is the measured value of target azimuth (303), is the measured value of pitch angle (304).

由误差传递公式,得到自制激光雷达三维成像系统(713)点云误差模型如下:According to the error transfer formula, the point cloud error model of the self-made lidar 3D imaging system (713) is obtained as follows:

其中Δx、Δy、Δz分别为X、Y、Z轴(201-203)坐标分量误差值,ΔL为系统测距误差,在一定测距范围内可视为定值,为系统方位角误差,为系统俯仰角误差,可由上述自制激光雷达三维成像系统(713)测角误差模型表示。Among them, Δx, Δy, and Δz are the coordinate component error values of the X, Y, and Z axes (201-203) respectively, and ΔL is the system ranging error, which can be regarded as a fixed value within a certain ranging range. is the system azimuth error, is the pitch angle error of the system, which can be expressed by the angle measurement error model of the self-made lidar three-dimensional imaging system (713).

(4)模型的参数求解与校正(4) Parameter solution and calibration of the model

自制激光雷达三维成像系统(713)点云误差模型中参数确立的流程示意图如图6所示,取N个标靶球(701-712)作为目标,分别用自制激光雷达三维成像系统(713)与高精度三维扫描仪(714)对其进行扫描,可得到每个标靶球(701-712)上多点的点云数据,利用最小二乘法对每个标靶球(701-712)上点 云进行空间拟合,分别得到自制激光雷达三维成像系统(713)下的球心坐标(xi,yi,zi)T,(i=1,2,…,N)和高精度三维扫描仪(714)下的球心坐标(x′i,y′i,z′i)T,(i=1,2,…,N)。将(x′i,y′i,z′i)T,(i=1,2,…,N)进行旋转和平移转化到自制激光雷达三维成像系统(713)坐标系下,一起代入自制激光雷达三维成像系统(713)点云误差表达式(15)和式(16)中,采用最小二乘法对模型参数进行求解,用得到对准误差(301、302)实现自制激光雷达三维成像系统(713)的点云误差校正。具体的扫描方案如下:The flow diagram of parameter establishment in the point cloud error model of the self-made LiDAR 3D imaging system (713) is shown in Figure 6. N target balls (701-712) are taken as targets, and the self-made LiDAR 3D imaging system (713) Scanning it with a high-precision three-dimensional scanner (714) can obtain point cloud data of multiple points on each target ball (701-712), and use the least square method to analyze the points on each target ball (701-712). Space fitting of the point cloud is carried out, and the coordinates ( xi ,y i , zi ) T ,(i=1,2,…,N) and the high-precision three-dimensional Coordinates (x′ i , y′ i , z′ i ) T , (i=1, 2, . . . , N) of the center of the sphere under the scanner ( 714 ). Rotate and translate (x′ i ,y′ i ,z′ i ) T , (i=1,2,…,N) into the coordinate system of the self-made lidar 3D imaging system (713), and substitute into the self-made laser In the point cloud error expressions (15) and (16) of the radar three-dimensional imaging system (713), the least square method is used to solve the model parameters, and the alignment error is obtained by (301, 302) Realize the point cloud error correction of the self-made lidar three-dimensional imaging system (713). The specific scanning scheme is as follows:

自制激光雷达三维成像系统(713)点云误差模型中参数确立的扫描方案示意图如图7所示,取N=12,即准备标靶球12个(701-712),在室内空旷场地内任意布设,将自制激光雷达三维成像系统(713)置于中心处,使标靶球(701-712)遍布自制激光雷达三维成像系统(713)水平扫描范围,高低遍布自制激光雷达三维成像系统(713)垂直扫描范围内,每个标靶球(701-712)与自制激光雷达三维成像系统(713)距离大致相同,此时测距误差为一个已知的常数。利用自制激光雷达三维成像系统(713)对所有标靶球(701-712)进行扫描,经过球心拟合后得到全部标靶球(701-712)球心坐标(xi,yi,zi)T,(i=1,2,…,12),作为测量值,并求得每个标靶球(701-712)球心的一维距离Li(305)、俯仰角(304)和方位角(303)。利用高精度三维扫描仪(714)进行二次扫描,得到所有标靶球(701-712)球心坐标(x′i,y′i,z′i)T,(i=1,2,…,12),通过旋转和平移将其转化到自制激光雷达三维成像系统(713)坐标系下,作为真实值,旋转矩阵R和平移矢量T如下:The schematic diagram of the scanning scheme established by the parameters in the point cloud error model of the self-made lidar 3D imaging system (713) is shown in Figure 7. N=12 is taken, that is, 12 target balls (701-712) are prepared, and any Layout, place the self-made laser radar three-dimensional imaging system (713) at the center, make the target ball (701-712) spread over the horizontal scanning range of the self-made laser radar three-dimensional imaging system (713), and spread all over the self-made three-dimensional laser radar imaging system (713) ) within the vertical scanning range, the distance between each target ball (701-712) and the self-made lidar three-dimensional imaging system (713) is roughly the same, and the ranging error is a known constant at this time. Scan all the target spheres (701-712) with the self-made laser radar 3D imaging system (713), and obtain the center coordinates (x i , y i , z) of all target spheres (701-712) after center fitting i ) T , (i=1,2,...,12), as the measured value, and obtain the one-dimensional distance L i (305) and pitch angle of each target ball (701-712) center (304) and azimuth (303). Use a high-precision three-dimensional scanner (714) to perform secondary scanning to obtain the center coordinates (x′ i , y′ i , z′ i ) T , (i=1,2,…) of all target balls (701-712) ,12), transform it into the coordinate system of the self-made lidar 3D imaging system (713) through rotation and translation, as the real value, the rotation matrix R and the translation vector T are as follows:

式中a、b、c分别是绕高精度三维扫描仪(714)坐标系各轴逆时针旋转的角度,x0、y0、z0分别是X、Y、Z(201-203)三个方向上的位移,自制激光雷达三维成像系统(713)点云误差模型可写作如下形式:In the formula, a, b, and c are respectively the angles of anticlockwise rotation around each axis of the coordinate system of the high-precision three-dimensional scanner (714), and x 0 , y 0 , and z 0 are three points of X, Y, and Z (201-203) respectively. The displacement in the direction, the point cloud error model of the self-made lidar 3D imaging system (713) can be written as follows:

上述模型中有a,b,c,x0,y0,z0,β,共8个未知参数,将其中4个标靶球(701、704、707、710)的球心坐标代入式(19),可得到12个非线性方程。首先假设不存在对准误差(301、302),即式(19)等号右侧为0,代入标靶球(701、704、707、710)球心坐标数据,采用最小二乘法解非线性方程组可以求得a,b,c,x0,y0,z0的初始值,默认对准误差(301、302)初始值为0。初始值确定后,采用最小二乘法求解8个未知参数,将对准误差(301、302)代入式(11)和式(12), 得到系统点云误差(Δx,Δy,Δz)T,利用剩余8个标靶球(702、703、705、706、708、709、711和712)球心的坐标数据对模型进行检验,不断修正模型,最终得到的模型可以实现自制激光雷达三维成像系统(713)对准误差(301、302)的点云误差校正,校正后的目标点云坐标为(x+Δx,y+Δy,z+Δz)TIn the above model, there are a,b,c,x 0 ,y 0 ,z 0 ,β, There are 8 unknown parameters in total. Substituting the center coordinates of 4 target spheres (701, 704, 707, 710) into Equation (19), 12 nonlinear equations can be obtained. Assume first that there are no alignment errors (301, 302), that is, the right side of the equal sign in formula (19) is 0, and the center coordinate data of the target ball (701, 704, 707, 710) are substituted into, and a can be obtained by using the least square method to solve nonlinear equations, Initial values of b,c,x 0 ,y 0 ,z 0 , default alignment error (301, 302) The initial value is 0. After the initial value is determined, the least square method is used to solve 8 unknown parameters, and the alignment error (301, 302) are substituted into formulas (11) and (12) to obtain the system point cloud error (Δx, Δy, Δz) T , using the remaining 8 target balls (702, 703, 705, 706, 708, 709, 711 and 712) The coordinate data of the center of the sphere is used to check the model, and the model is continuously corrected. The final model can realize the alignment error of the self-made laser radar 3D imaging system (713) Point cloud error correction of (301, 302), the corrected target point cloud coordinates are (x+Δx, y+Δy, z+Δz) T .

综上所述,本发明提出一种基于自制地基激光雷达对准误差的点云误差校正方法,该方法主要针对自制激光雷达三维成像系统45°转镜配合云台转动的扫描方式,通过计算入射光与俯仰轴对准误差对自制激光雷达三维成像系统测角误差的影响,建立自制激光雷达三维成像系统点云误差模型,并采用高精度三维扫描仪的点云坐标作为真实值求解对准误差,从而实现对自制激光雷达三维成像系统对准误差目标点云的误差校正。本发明是一种从自制激光雷达三维成像系统误差源出发的、利用少量目标点即可实现的、理论性与逻辑性较强的系统点云误差校正方法,该方法适用于所有采用45°转镜配合云台转动扫描方式的三维扫描系统。To sum up, the present invention proposes a point cloud error correction method based on self-made ground-based laser radar alignment error. The influence of light and pitch axis alignment error on the angle measurement error of the self-made Lidar 3D imaging system, establish a point cloud error model of the self-made Lidar 3D imaging system, and use the point cloud coordinates of the high-precision 3D scanner as the real value to solve the alignment error , so as to realize the error correction of the self-made lidar 3D imaging system for the alignment error target point cloud. The invention is a system point cloud error correction method with strong theory and logic, starting from the error source of the self-made laser radar three-dimensional imaging system, which can be realized by using a small number of target points. A three-dimensional scanning system that uses a mirror and a pan-tilt rotation scanning method.

以上所述,仅为本发明具体实施方法的基本方案,但本发明的保护范围并不局限于此,任何熟悉本技术领域的人员在本发明公开的技术范围内,可想到的变化或替换,都应涵盖在本发明的保护范围之内。因此,本发明的保护范围应该以权利要求的保护范围为准。所有落入权利要求的等同的含义和范围内的变化都将包括在权利要求的范围之内。The above is only the basic scheme of the specific implementation method of the present invention, but the protection scope of the present invention is not limited thereto, and any conceivable change or replacement within the technical scope disclosed by the present invention by anyone familiar with the technical field, All should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims. All changes that come within the equivalent meaning and range of the claims are intended to be included in the scope of the claims.

Claims (8)

1.一种基于自制地基激光雷达对准误差的点云误差校正方法,其特征在于,该方法针对自制激光雷达三维成像系统中45°转镜配合云台转动的扫描方式,其中所述自制激光雷达三维成像系统包括光学系统、扫描机构(电机、45°转镜)、云台;入射光经所述光学系统出射到所述45°转镜中心(O点),伴随所述扫描机构垂直旋转、所述云台水平旋转从所述自制激光雷达三维成像系统中出射;所述自制激光雷达三维成像系统的坐标系(O-XYZ)包括俯仰轴(X轴)、初始出射光线方向(Y轴)和方位轴(Z轴);理想情况下,所述入射光与所述俯仰轴(X轴)重合,但实际情况下所述入射光与所述俯仰轴(X轴)之间存在夹角β,所述入射光在YOZ平面上投影的相反向量与所述方位轴(Z轴)之间存在夹角所述对准误差定义为:①所述实际入射光与所述俯仰轴(X轴)之间的夹角β;②所述实际入射光在所述YOZ平面上投影的相反向量与所述方位轴(Z轴)之间的夹角从Z轴正半轴起算,顺时针方向为正,范围为0°至360°;目标上一点P在所述坐标系(O-XYZ)中一维距离L定义为的长度,方位角定义为在XOY平面的投影与X轴的夹角,从X轴正半轴起算,逆时针方向为正,范围为0°至360°,俯仰角定义为90°与和Z轴之间夹角的差,所述一维距离L、所述方位角和所述俯仰角的测量误差分别为测距误差ΔL、方位角误差和俯仰角误差通过理论分析所述对准误差对所述自制激光雷达三维成像系统测角误差(方位角误差俯仰角误差)的影响,建立所述自制激光雷达三维成像系统的测角误差模型;所述目标的点云定义为目标上一点的直角坐标(x,y,z)T,目标的点云误差定义为所述目标点云的坐标测量值与真实值的偏差(Δx,Δy,Δz)T,根据所述目标的点云误差(Δx,Δy,Δz)T与所述目标测角误差(方位角误差俯仰角误差)之间的误差传递原则,建立所述自制激光雷达三维成像系统的点云误差模型如下:1. A point cloud error correction method based on self-made ground-based laser radar alignment error, it is characterized in that, this method is aimed at the scan mode that 45 ° rotating mirror cooperates the pan-tilt rotation in the self-made laser radar three-dimensional imaging system, wherein said self-made laser The radar three-dimensional imaging system includes an optical system, a scanning mechanism (motor, 45° rotating mirror), and a cloud platform; the incident light is emitted to the center (O point) of the 45° rotating mirror through the optical system, and is rotated vertically with the scanning mechanism , the horizontal rotation of the platform is emitted from the self-made laser radar three-dimensional imaging system; the coordinate system (O-XYZ) of the self-made laser radar three-dimensional imaging system includes a pitch axis (X axis), an initial outgoing light direction (Y axis ) and the azimuth axis (Z axis); ideally, the incident light coincides with the pitch axis (X axis), but in reality there is an angle between the incident light and the pitch axis (X axis) β, there is an angle between the opposite vector projected by the incident light on the YOZ plane and the azimuth axis (Z axis) The alignment error is defined as: ① the angle β between the actual incident light and the pitch axis (X axis); ② the opposite vector of the actual incident light projected on the YOZ plane and the azimuth Angle between axes (Z-axis) Counting from the positive semi-axis of the Z axis, the clockwise direction is positive, and the range is 0° to 360°; the one-dimensional distance L of a point P on the target in the coordinate system (O-XYZ) is defined as length, azimuth defined as The angle between the projection on the XOY plane and the X-axis is calculated from the positive semi-axis of the X-axis, and the counterclockwise direction is positive, the range is 0° to 360°, and the pitch angle defined as 90° with and the angle difference between the Z axis, the one-dimensional distance L, the azimuth angle and the pitch angle The measurement errors are ranging error ΔL, azimuth angle error and pitch error The alignment error is analyzed by theoretical For the self-made laser radar three-dimensional imaging system angle measurement error (azimuth angle error pitch angle error ), the angle measurement error model of the self-made lidar three-dimensional imaging system is established; the point cloud of the target is defined as the Cartesian coordinates (x, y, z) T of a point on the target, and the point cloud error of the target is defined as the The deviation (Δx, Δy, Δz) T between the coordinate measurement value of the target point cloud and the true value, according to the point cloud error (Δx, Δy, Δz) T of the target and the angle measurement error (azimuth angle error) of the target pitch angle error ), the point cloud error model of the self-made lidar three-dimensional imaging system is established as follows: 得到所述自制激光雷达三维成像系统对所述对准误差校正后的所述目标点云坐标为:Obtain the homemade lidar 3D imaging system for the alignment error The corrected target point cloud coordinates are: (x+Δx,y+Δy,z+Δz)T (x+Δx,y+Δy,z+Δz) T 从而实现对所述自制激光雷达三维成像系统对准误差的点云误差校正;Thereby realizing the alignment error of the self-made lidar 3D imaging system Point cloud error correction; 所述方法主要包括以下七步:The method mainly includes the following seven steps: 1)建立所述自制激光雷达三维成像系统坐标系(O-XYZ);所述目标上任意一点P在所述坐标系(O-XYZ)中的测量值为方位角俯仰角所述目标上任意一点P在所述坐标系(O-XYZ)中的真实值为方位角俯仰角所述差值为方位角误差所述差值为俯仰角误差 1) Establish the coordinate system (O-XYZ) of the self-made laser radar three-dimensional imaging system; the measured value of any point P on the target in the coordinate system (O-XYZ) is the azimuth angle Pitch angle The true value of any point P on the target in the coordinate system (O-XYZ) is the azimuth Pitch angle said with The difference is the azimuth error said with The difference is the pitch angle error 2)建立由所述对准误差引起的所述自制激光雷达三维成像系统测角误差模型;该模型分别描述了所述测角误差(方位角误差俯仰角误差)和所述对准误差以及所述目标 的方位角俯仰角之间的数学关系,如下所示:2) Establish the alignment error by the The angle measurement error model of the self-made laser radar three-dimensional imaging system caused; This model describes the angle measurement error (azimuth angle error) respectively pitch angle error ) and the alignment error and the azimuth of the target Pitch angle The mathematical relationship between them is as follows: 3)基于对所述对准误差的三角函数值进行近似变换,化简所述自制激光雷达三维成像系统测角误差模型,如下所示:3) Based on the alignment error for the The value of the trigonometric function is approximately transformed, and the angle measurement error model of the self-made lidar 3D imaging system is simplified, as follows: 4)根据误差传递原则,建立所述自制激光雷达三维成像系统的点云误差(Δx,Δy,Δz)T与所述测距误差ΔL、所述测角误差(方位角误差俯仰角误差)之间的映射关系,如下所示:4) According to the principle of error transmission, establish the point cloud error (Δx, Δy, Δz) T of the self-made lidar three-dimensional imaging system and the distance measurement error ΔL, the angle measurement error (azimuth error pitch angle error ) between the mapping relationship, as follows: 其中,L为所述目标上任意一点在所述自制激光雷达三维成像系统中的一维距离,ΔL为所述目标上任意一点一维距离L的测量误差;Wherein, L is the one-dimensional distance of any point on the target in the self-made laser radar three-dimensional imaging system, and ΔL is the measurement error of the one-dimensional distance L of any point on the target; 5)将所述自制激光雷达三维成像系统测角误差模型转化到直角坐标系下,得到所述自制激光雷达三维成像系统的点云误差模型如下:5) The angle measurement error model of the self-made laser radar three-dimensional imaging system is transformed into a Cartesian coordinate system, and the point cloud error model of the self-made laser radar three-dimensional imaging system is obtained as follows: 6)利用所述自制激光雷达三维成像系统对N个所述目标进行扫描,得到所述目标在所述自制激光雷达三维成像系统中的坐标(xi,yi,zi)T,(i=1,2,,N),作为测量值;利用高精度三维扫描仪对所述目标进行二次扫描,得到所述目标在所述高精度三维扫描仪中的坐标(xi',yi',zi')T,(i=1,2,…,N),将其转化到所述自制激光雷达三维成像系统下,作为真实值;所述测量值与所述真实值之差为所述自制激光雷达三维成像系统的点云误差(Δxi,Δyi,Δzi)T,(i=1,2,…,N);根据球坐标系与直角坐标系之间的映射关系,由所述测量值得到所述目标的一维距离Li、方位角和俯仰角所述目标的测距误差ΔLi在所述一维距离Li处于一定范围内时视为一个已知常数;6) Using the self-made laser radar three-dimensional imaging system to scan the N targets, and obtain the coordinates ( xi , y i , z i ) T of the target in the self-made laser radar three-dimensional imaging system, (i =1, 2,, N), as the measured value; use a high-precision three-dimensional scanner to scan the target twice to obtain the coordinates of the target in the high-precision three-dimensional scanner ( xi ', y i ', z i ') T , (i=1,2,…,N), which is transformed into the self-made lidar three-dimensional imaging system as the real value; the difference between the measured value and the real value is The point cloud error (Δx i , Δy i , Δz i ) T of the self-made lidar three-dimensional imaging system, (i=1,2,...,N); according to the mapping relationship between the spherical coordinate system and the rectangular coordinate system, Obtain the one-dimensional distance L i and azimuth of the target from the measured value and pitch angle The ranging error ΔL i of the target is regarded as a known constant when the one-dimensional distance L i is within a certain range; 7)求解所述自制激光雷达三维成像系统点云误差模型中的模型参数,即所述对准误差对所述自制激光雷达三维成像系统对准误差的点云误差进行校正;将所述自制激光雷达三维成像系统的点云误差(Δxi,Δyi,Δzi)T,(i=1,2,…,N)、所述目标的一维距离Li、方位角俯仰角和测距误差ΔLi代入所述公式(4)中,得到3*N个非线性方程,通过求解所述非线性方程确定所述自制激 光雷达三维成像系统点云误差模型中的所述对准误差将所述对准误差代入式(4),在所述自制激光雷达三维成像系统的所述目标点云坐标(x,y,z)T基础上,得到所述自制激光雷达三维成像系统校正后的所述目标点云坐标(x+Δx,y+Δy,z+Δz)T7) Solve the model parameters in the point cloud error model of the self-made lidar three-dimensional imaging system, that is, the alignment error Alignment error of the self-made lidar 3D imaging system The point cloud error of the self -made lidar three -dimensional imaging system is corrected ; distance L i , azimuth angle Pitch angle and ranging error ΔL i are substituted into the formula (4), 3*N nonlinear equations are obtained, and the alignment in the self-made lidar three-dimensional imaging system point cloud error model is determined by solving the nonlinear equations error The alignment error Substituting into formula (4), on the basis of the target point cloud coordinates (x, y, z) T of the self-made laser radar three-dimensional imaging system, the corrected target point cloud of the self-made laser radar three-dimensional imaging system is obtained Coordinates (x+Δx,y+Δy,z+Δz) T . 2.根据权利要求1所述的一种基于自制地基激光雷达对准误差的点云误差校正方法,其特征在于,建立所述自制激光雷达三维成像系统坐标系(O-XYZ);所述自制激光雷达三维成像系统的俯仰轴定义为所述45°转镜的电机转轴,方位轴定义为所述云台的转轴;理想情况下,所述入射光与所述俯仰轴重合;所述45°转镜的反射面中心,即所述理想入射光入射到所述反射面上的交点为坐标原点O;与所述俯仰轴重合,正方向与所述理想入射光入射到所述45°转镜上的方向相同的坐标轴定义为X轴;与所述理想入射光初始出射方向相同的坐标轴定义为Y轴;与所述方位轴重合,正方向竖直向上的坐标轴定义为Z轴。2. a kind of point cloud error correction method based on self-made ground-based laser radar alignment error according to claim 1, is characterized in that, set up described self-made laser radar three-dimensional imaging system coordinate system (O-XYZ); Described self-made The pitch axis of the lidar three-dimensional imaging system is defined as the motor shaft of the 45° rotating mirror, and the azimuth axis is defined as the shaft of the pan/tilt; ideally, the incident light coincides with the pitch axis; the 45° The center of the reflective surface of the rotating mirror, that is, the intersection point where the ideal incident light is incident on the reflecting surface is the coordinate origin O; coincident with the pitch axis, the positive direction and the ideal incident light are incident on the 45° rotating mirror The coordinate axis with the same direction as above is defined as the X axis; the coordinate axis with the same initial exit direction of the ideal incident light is defined as the Y axis; the coordinate axis coincident with the azimuth axis, and the positive direction is vertically upward is defined as the Z axis. 3.根据权利要求1所述的一种基于自制地基激光雷达对准误差的点云误差校正方法,其特征在于,建立由所述对准误差引起的所述自制激光雷达三维成像系统测角误差模型并化简;由于所述实际入射光与所述俯仰轴(X轴)之间存在夹角β,所述实际入射光在所述YOZ平面上投影的相反向量与所述方位轴(Z轴)之间存在夹角从Z轴正半轴起算,顺时针方向为正,范围为0°至360°;所述自制激光雷达三维成像系统测角误差模型的建立过程如下:3. a kind of point cloud error correction method based on self-made ground-based laser radar alignment error according to claim 1, is characterized in that, establishes by described alignment error The angle measurement error model of the self-made lidar three-dimensional imaging system caused by it is simplified; because there is an angle β between the actual incident light and the pitch axis (X axis), the actual incident light is in the YOZ plane There is an angle between the opposite vector of the upward projection and the azimuth axis (Z axis) Counting from the positive semi-axis of the Z axis, the clockwise direction is positive, and the range is 0° to 360°; the establishment process of the angle measurement error model of the self-made laser radar three-dimensional imaging system is as follows: 初始所述45°转镜法线单位矢量(所述O-XYZ坐标系下)为:The initial normal unit vector of the 45° rotating mirror (under the O-XYZ coordinate system) is: 理想情况下出射光线经过所述目标上一点P,此时所述45°转镜法线矢量(所述O-XYZ坐标系下)为:Ideally, the outgoing ray passes through a point P on the target. At this time, the normal vector of the 45° rotating mirror (under the O-XYZ coordinate system) is: 式(6)中为所述目标上一点P的所述俯仰角测量值,为所述目标上一点P的所述方位角测量值, 分别为绕所述X轴逆时针旋转所述角、绕所述Z轴逆时针旋转所述角的旋转矩阵,所述旋转矩阵如下:In formula (6) is the measured value of the pitch angle of a point P on the target, is the azimuth measurement value of a point P on the target, are respectively rotated counterclockwise around the X-axis by the angle, rotate the Z axis counterclockwise the The rotation matrix of the angle, the rotation matrix is as follows: 将式(5)和式(7)代入式(6),可得所述O-XYZ坐标系下所述45°转镜的法线矢量如下:Substituting formula (5) and formula (7) into formula (6), the normal vector of the 45 ° rotating mirror under the O-XYZ coordinate system can be obtained as follows: 初始所述实际入射光矢量为经所述云台转动后变为 由光反射定律的矢量形式为求得出射光矢量为根据球坐标与直角坐标之间的转换关系,如下式(9),可求得所述方位角与所述俯仰角的真实值 Initially the actual incident light vector is After the pan-tilt rotates, it becomes The vector form of the light reflection law is Find the outgoing light vector as According to the conversion relationship between spherical coordinates and rectangular coordinates, as shown in the following formula (9), the true values of the azimuth angle and the pitch angle can be obtained 根据三角函数近似原则,所述方位角误差与所述俯仰角误差可以近似成如下形式:According to the principle of trigonometric function approximation, the azimuth error The pitch error with the It can be approximated as follows: 得到的所述自制激光雷达三维成像系统测角误差模型包括所述方位角误差与俯仰角误差描述了所述测角误差(方位角误差俯仰角误差)和所述对准误差以及所述方位角所述俯仰角之间的数学关系;The obtained angle measurement error model of the self-made lidar three-dimensional imaging system includes the azimuth error and pitch error describes the angular error (azimuth error pitch angle error ) and the alignment error and the azimuth The pitch angle the mathematical relationship between 根据三角函数近似原则sinβ=β,cosβ=1,并合理省略部分β的高次项,得到化简后所述自制激光雷达三维成像系统测角误差模型如下:According to the trigonometric function approximation principle sinβ=β, cosβ=1, and reasonably omit some high-order terms of β, the angle measurement error model of the self-made lidar 3D imaging system after simplification is obtained as follows: 4.根据权利要求1所述的一种基于自制地基激光雷达对准误差的点云误差校正方法,其特征在于,所述自制激光雷达三维成像系统球坐标系中的测角误差模型转换至所述自制激光雷达三维成像系统直角坐标系中的点云误差模型;所述自制激光雷达三维成像系统扫描后可以直接得到所述目标上一点P的所述一维距离L、所述方位角与所述俯仰角的测量值,根据式(9)转换至所述自制激光雷达三维成像系统直角坐标系下得到所述目标上一点P的空间三维坐标(x,y,z)T4. A kind of point cloud error correction method based on self-made ground-based laser radar alignment error according to claim 1, it is characterized in that, the angular measurement error model in the spherical coordinate system of the self-made laser radar three-dimensional imaging system is converted to the The point cloud error model in the Cartesian coordinate system of the self-made laser radar three-dimensional imaging system; the self-made laser radar three-dimensional imaging system can directly obtain the one-dimensional distance L and the azimuth angle of a point P on the target after scanning with the pitch angle The measured value is converted to the three-dimensional coordinates (x, y, z) T of a point P on the target under the Cartesian coordinate system of the self-made laser radar three-dimensional imaging system according to formula (9); 由于存在所述测距误差ΔL和所述测角误差(方位角误差俯仰角误差),所述目标上一点P的坐标测量值为P'(x+Δx,y+Δy,z+Δz),其中(Δx,Δy,Δz)T为所述目标的点云误差,根据误差传递公式,得所述自制激光雷达三维成像系统点云误差模型如下:Due to the existence of the distance measurement error ΔL and the angle measurement error (azimuth angle error pitch angle error ), the coordinate measurement value of a point P on the target is P'(x+Δx, y+Δy, z+Δz), where (Δx, Δy, Δz) T is the point cloud error of the target, according to the error transfer Formula, the point cloud error model of the self-made lidar 3D imaging system is obtained as follows: 5.根据权利要求1所述的一种基于自制地基激光雷达对准误差的点云误差校正方法,其特征在于,所述目标在所述高精度三维扫描仪中的坐标转换至所述自制激光雷达三维成像系统中;所述自制激光雷达三维成像系统点云误差模型中的所述对准误差未知且不易测量,因此利用所述自制激光雷达 三维成像系统与所述高精度三维扫描仪中的点云坐标数据求解所述对准误差实现点云误差校正;利用所述自制激光雷达三维成像系统对N个所述目标进行扫描,得到全部所述目标上一点在所述自制激光雷达三维成像系统坐标系下的坐标(xi,yi,zi)T,(i=1,2,…,N),作为测量值;将所述测量值代入式(9),得到全部所述目标的一维距离Li、俯仰角和方位角利用所述高精度三维扫描仪对相同所述目标进行扫描,得到所述目标上一点在所述高精度三维扫描仪坐标系下的坐标(xi',yi',zi')T,(i=1,2,…,N);由于所述(xi,yi,zi)T与所述(xi',yi',zi')T处于不同的坐标系下,因此将所述(xi',yi',zi')T转换至所述自制激光雷达三维成像系统坐标系下,作为真实值;所述高精度三维扫描仪到所述自制激光雷达三维成像系统的旋转矩阵R和平移矢量T表示如下:5. A kind of point cloud error correction method based on self-made ground-based laser radar alignment error according to claim 1, it is characterized in that, the coordinate conversion of described target in described high-precision three-dimensional scanner is to described self-made laser In the radar three-dimensional imaging system; the alignment error in the point cloud error model of the self-made lidar three-dimensional imaging system Unknown and difficult to measure, so use the self-made lidar 3D imaging system and the point cloud coordinate data in the high-precision 3D scanner to solve the alignment error Realize point cloud error correction; Utilize the self-made laser radar three-dimensional imaging system to scan N described targets, obtain the coordinates (x i , y i , z i ) T , (i=1,2,…,N), as measured values; substituting the measured values into formula (9), to obtain the one-dimensional distance L i and pitch angle of all the targets and azimuth Using the high-precision three-dimensional scanner to scan the same target to obtain the coordinates ( xi ', y i ', z i ') T of a point on the target in the coordinate system of the high-precision three-dimensional scanner, (i=1,2,...,N); since the ( xi ,y i , zi ) T and the ( xi ',y i ', zi ') T are in different coordinate systems, Therefore, the ( xi ', y i ', z i ') T is converted to the coordinate system of the self-made laser radar three-dimensional imaging system as a real value; The rotation matrix R and translation vector T of the imaging system are expressed as follows: 式(13)与(14)中a、b、c分别是绕所述高精度三维扫描仪坐标系各轴逆时针旋转的角度,x0、y0、z0分别是所述X、Y、Z三个方向上的位移,所述(xi',yi',zi')T在所述自制激光雷达三维成像系统中的坐标如下:In formulas (13) and (14), a, b, and c are the counterclockwise rotation angles around each axis of the coordinate system of the high-precision three-dimensional scanner, and x 0 , y 0 , and z 0 are the X, Y, and The displacement in the three directions of Z, the coordinates of the ( xi ', y i ', z i ') T in the self-made laser radar three-dimensional imaging system are as follows: 6.根据权利要求1或5所述的一种基于自制地基激光雷达对准误差的点云误差校正方法,其特征在于,求解所述自制激光雷达三维成像系统点云误差模型中的模型参数,即所述对准误差所述自制激光雷达三维成像系统点云误差模型可写作如下形式:6. a kind of point cloud error correction method based on self-made ground-based lidar alignment error according to claim 1 or 5, is characterized in that, solves the model parameter in the point cloud error model of described self-made lidar three-dimensional imaging system, i.e. the alignment error The point cloud error model of the self-made lidar 3D imaging system can be written as follows: 所述测距误差ΔLi主要受所述自制激光雷达三维成像系统中测距电路影响,在所述一维距离Li处于一定范围内时为一个已知常数;将所述(xi,yi,zi)T、所述(xi',yi',zi')T、所述一维距离Li、所述方位角和所述俯仰角代入式(15)与式(16),基于最小二乘法求解3*N个非线性方程,可以确定所述旋转矩阵R和所述平移矢量T(a,b,c,x0,y0,z0)与所述对准误差共8个未知量。The ranging error ΔL i is mainly affected by the ranging circuit in the self-made laser radar three-dimensional imaging system, and is a known constant when the one-dimensional distance L i is within a certain range; the ( xi , y i , z i ) T , the ( xi ', y i ', zi ') T , the one-dimensional distance L i , the azimuth and the pitch angle Substituting formula (15) and formula (16), and solving 3*N nonlinear equations based on the least square method, the rotation matrix R and the translation vector T(a, b, c, x 0 , y 0 , z 0 ) with the alignment error There are 8 unknowns in total. 7.根据权利要求1所述的一种基于自制地基激光雷达对准误差的点云误差校正方法,其特征在于,利用求解所得的所述对准误差完善所述自制激光雷达三维成像系统的点云误差模型,实现对所述自制激光雷达三维成像系统对准误差的点云误差校正;将所述对准误差代入式(11)和式(12),得到所述自制激光雷达三维成像系统的点云误差(Δx,Δy,Δz)T,在所述自制激光雷达三维成像系统的所述目标点云坐标(x,y,z)T基础上,得到所述自制激光雷达三维成像系统对所述对准误差 校正后的所述目标点云坐标(x+Δx,y+Δy,z+Δz)T7. A kind of point cloud error correction method based on self-made ground-based laser radar alignment error according to claim 1, it is characterized in that, using the described alignment error of solving gained Improve the point cloud error model of the self-made laser radar three-dimensional imaging system, realize the point cloud error correction of the alignment error of the self-made laser radar three-dimensional imaging system; Substituting formula (11) and formula (12), the point cloud error (Δx, Δy, Δz) T of the self-made lidar 3D imaging system is obtained, and the target point cloud coordinates ( On the basis of x, y, z) T , obtain the alignment error of the self-made laser radar three-dimensional imaging system The corrected target point cloud coordinates (x+Δx, y+Δy, z+Δz) T . 8.根据权利要求1所述的一种基于自制地基激光雷达对准误差的点云误差校正方法,其特征在于,用于所述自制激光雷达三维成像系统对准误差点云误差校正的所述目标包含但不限于标靶球、平面反光标靶等所有可获得所述目标上一点空间坐标的物体。8. A kind of point cloud error correction method based on self-made ground-based laser radar alignment error according to claim 1, is characterized in that, is used for the described self-made laser radar three-dimensional imaging system alignment error point cloud error correction Targets include but are not limited to target balls, plane reflective targets, and other objects that can obtain the spatial coordinates of a point on the target.
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