CN111208497A - Airborne laser radar system adjustment processing method - Google Patents
Airborne laser radar system adjustment processing method Download PDFInfo
- Publication number
- CN111208497A CN111208497A CN202010310505.3A CN202010310505A CN111208497A CN 111208497 A CN111208497 A CN 111208497A CN 202010310505 A CN202010310505 A CN 202010310505A CN 111208497 A CN111208497 A CN 111208497A
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- error
- laser radar
- processing method
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention relates to a laser radar adjustment technology, discloses an airborne laser radar system adjustment processing method and solves the problems that a large amount of manual intervention is needed and an accurate solution cannot be obtained when an error value is adjusted by manually inputting an installation error parameter in the traditional technology. The processing method comprises the following steps: a. acquiring unmanned aerial vehicle position and attitude information; b. selecting homonymous points of different flight zones; c. calculating the position of the homonymy point after considering the placement error according to the position and posture information of the unmanned aerial vehicle; d. establishing an equation under the condition that the point positions obtained by considering the installation errors of the homonymous points of different flight tapes are the same point; e. solving a placement error through a least square method inverse calculation based on the homologous points; f. the angle error and the offset error are back-calculated by the placement error.
Description
Technical Field
The invention relates to a laser radar adjustment technology, in particular to an airborne laser radar system adjustment processing method.
Background
The laser radar is an active measurement means capable of rapidly acquiring three-dimensional space information of a target, and has the advantages of all weather, high precision, low cost and the like. In recent years, airborne laser radars are widely applied in the fields of forestry, cities, traffic, water conservancy and the like. The installation angle precision of the laser radar can not meet the requirement in the installation process and is completely consistent. Precision loss occurs in different degrees in the process of generating the point cloud, so that the scanned image needs to be processed by a balancing algorithm to reduce the precision loss.
The current common method is to adjust the error value to the minimum by manually inputting the installation error parameter. Because the adjustment process involves matrix equation operation, two matrices need to be solved simultaneously, the operation process is complex and tedious, the equation number is insufficient, a single solution cannot be obtained, and a correct result is difficult to obtain in conventional engineering application, a manual input gradual test mode needs to be adopted to gradually approach the correct result, and the calculation purpose is achieved. The method is blindness, needs a certain experience value, needs a large amount of manual intervention, consumes energy, can only obtain an approximate solution, and cannot obtain an accurate solution.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the airborne laser radar system adjustment processing method is provided, and the problems that a large amount of manual intervention is needed and an accurate solution cannot be obtained when an installation error parameter adjustment error value is manually input in the traditional technology are solved.
The technical scheme adopted by the invention for solving the technical problems is as follows:
an airborne laser radar system adjustment processing method comprises the following steps:
a. acquiring unmanned aerial vehicle position and attitude information;
b. selecting homonymous points of different flight zones;
c. calculating the position of the homonymy point after considering the placement error according to the position and posture information of the unmanned aerial vehicle;
d. establishing an equation under the condition that the point positions obtained by considering the installation errors of the homonymous points of different flight tapes are the same point;
e. solving a placement error through a least square method inverse calculation based on the homologous points;
f. the angle error and the offset error are back-calculated by the placement error.
As a further optimization, in step a, the acquiring the position and attitude information of the unmanned aerial vehicle specifically includes:
and the position and attitude information of the unmanned aerial vehicle is obtained by the combined resolving of the reference station satellite signal receiver, the airborne satellite signal receiver and the airborne inertial navigation multi-data source.
As a further optimization, in the step b, a plurality of groups of homonymous points on different flight tapes are selected, wherein the homonymous points satisfy the following conditions: the unmanned aerial vehicle is all covered in the area of navigating more in same flight, and the rigidity, and does not change along with time variation.
As a further optimization, in step c, calculating, by using the position and attitude information of the unmanned aerial vehicle, a position of the homonymy point after the error is settled, specifically including:
and calculating the scanning time of the laser radar to the point corresponding to the same name point of different navigation bands, and calculating a transfer matrix from the inertial navigation coordinate system to a WGS84 coordinate system, a rotation matrix from the laser radar coordinate system to the inertial navigation coordinate system and an offset from the laser radar coordinate system to the inertial navigation coordinate system according to the position attitude information of the unmanned aerial vehicle at the corresponding moment.
The invention has the beneficial effects that:
the equation is established by selecting the homonymous points on different flight zones, and the arrangement error is inversely calculated by using the least square method, so that the aim of automatic calculation is fulfilled on the premise of not losing the precision.
Drawings
Fig. 1 is a flow chart of an adjustment processing method of an airborne laser radar system of the present invention.
Detailed Description
The invention aims to provide an airborne laser radar system adjustment processing method, which solves the problems that a large amount of manual intervention is needed and an accurate solution cannot be obtained when an error value is adjusted by manually inputting an installation error parameter in the prior art.
The equation for calculating the absolute position of the laser spot from the relative position of the lidar is as follows:
wherein:
RNis a transformation matrix from an inertial coordinate system to a WGS-84 coordinate system;
RMa rotation matrix from a laser scanning coordinate system to an inertial coordinate system;
RCscanning a coordinate system for a laserChecking an angle parameter rotation matrix;
LL2IMUthe offset of the laser head to an inertial coordinate system;
matrix RCAnd
two matrices need to be solved.
From the aspect of calculation accuracy, the invention converts the matrix equation into a matrix equation set by selecting the homonymous points on different flight tapes and taking the homonymous points of different flight tapes into consideration that the position of the obtained point should be the same point after the arrangement error is taken into consideration, and increases the number of equations:
and finally, optimally solving the equation set by a least square method.
As shown in fig. 1, the adjustment processing method of the airborne lidar system in the invention comprises the following steps:
an airborne laser radar system adjustment processing method comprises the following steps:
1. acquiring unmanned aerial vehicle position and attitude information;
in the step, unmanned aerial vehicle position and attitude information is obtained through combined resolving of a reference station satellite signal receiver, an airborne satellite signal receiver and an airborne inertial navigation multi-data source.
2. Selecting homonymous points of different flight zones;
in this step, a plurality of groups of homonymous points on different flight zones are selected, wherein the homonymous points satisfy the following conditions: the unmanned aerial vehicle is all covered in the area of navigating more in same flight, and the rigidity, and does not change along with time variation.
3. Calculating the position of the homonymy point after considering the placement error according to the position and posture information of the unmanned aerial vehicle;
in the step, the time of scanning the point by the laser radar corresponding to the same name point of different navigation bands is calculated, and a transfer matrix from the inertial navigation coordinate system to the WGS84 coordinate system, a rotation matrix from the laser radar coordinate system to the inertial navigation coordinate system and an offset from the laser radar coordinate system to the inertial navigation coordinate system are calculated according to the position attitude information of the unmanned aerial vehicle at the corresponding moment.
4. And establishing an equation under the condition that the point positions obtained by considering the installation errors of the homonymous points of different flight tapes are the same point.
5. And solving the installation error through the least square method inverse calculation based on the homologous points.
6. The angle error and the offset error are back-calculated by the placement error.
By the scheme, the automatic calculation is achieved on the premise of not losing precision.
Claims (4)
1. An airborne laser radar system adjustment processing method is characterized by comprising the following steps:
a. acquiring unmanned aerial vehicle position and attitude information;
b. selecting homonymous points of different flight zones;
c. calculating the position of the homonymy point after considering the placement error according to the position and posture information of the unmanned aerial vehicle;
d. establishing an equation under the condition that the point positions obtained by considering the installation errors of the homonymous points of different flight tapes are the same point;
e. solving a placement error through a least square method inverse calculation based on the homologous points;
f. the angle error and the offset error are back-calculated by the placement error.
2. The airborne lidar system adjustment processing method of claim 1,
in step a, the acquiring of the position and attitude information of the unmanned aerial vehicle specifically comprises:
and the position and attitude information of the unmanned aerial vehicle is obtained by the combined resolving of the reference station satellite signal receiver, the airborne satellite signal receiver and the airborne inertial navigation multi-data source.
3. The airborne lidar system adjustment processing method of claim 1,
in the step b, selecting a plurality of groups of homonymy points on different flight tapes, wherein the homonymy points meet the following requirements: the unmanned aerial vehicle is all covered in the area of navigating more in same flight, and the rigidity, and does not change along with time variation.
4. The airborne lidar system adjustment processing method according to any of claims 1 to 3,
in step c, calculating the position of the homonymy point after considering the placement error through the position attitude information of the unmanned aerial vehicle, specifically comprising: and calculating the scanning time of the laser radar to the point corresponding to the same name point of different navigation bands, and calculating a transfer matrix from the inertial navigation coordinate system to a WGS84 coordinate system, a rotation matrix from the laser radar coordinate system to the inertial navigation coordinate system and an offset from the laser radar coordinate system to the inertial navigation coordinate system according to the position attitude information of the unmanned aerial vehicle at the corresponding moment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010310505.3A CN111208497A (en) | 2020-04-20 | 2020-04-20 | Airborne laser radar system adjustment processing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010310505.3A CN111208497A (en) | 2020-04-20 | 2020-04-20 | Airborne laser radar system adjustment processing method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111208497A true CN111208497A (en) | 2020-05-29 |
Family
ID=70787279
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010310505.3A Pending CN111208497A (en) | 2020-04-20 | 2020-04-20 | Airborne laser radar system adjustment processing method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111208497A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112268558A (en) * | 2020-10-15 | 2021-01-26 | 西北工业大学 | Active target positioning and speed measuring method based on unmanned aerial vehicle autonomous photoelectric platform |
| CN112859052A (en) * | 2021-02-05 | 2021-05-28 | 哈尔滨工业大学 | Airborne laser radar system integration error calibration method based on overlapped flight zone conjugate elements |
| CN115752448A (en) * | 2022-11-03 | 2023-03-07 | 武汉际上导航科技有限公司 | Laser point cloud air belt adjustment method combining point cloud matching and sensor data |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103106339A (en) * | 2013-01-21 | 2013-05-15 | 武汉大学 | Synchronous aerial image assisting airborne laser point cloud error correction method |
| CN103196431A (en) * | 2013-04-03 | 2013-07-10 | 武汉大学 | Integral aerial triangulation method for airborne laser scanning point cloud and optical image |
| CN103744661A (en) * | 2013-12-23 | 2014-04-23 | 广东电网公司电力科学研究院 | Multi-sensor data integration processing method and system of minimum altitude unmanned aerial vehicle |
| KR101547940B1 (en) * | 2014-12-17 | 2015-08-28 | 가톨릭관동대학교산학협력단 | An error correction system for data of terrestrial LiDAR on the same plane and the method thereof |
| CN105527621A (en) * | 2016-01-23 | 2016-04-27 | 中国测绘科学研究院 | Rigorous self-calibration algorithm of domestic laser radar system based on virtual conjugate point |
| CN106052718A (en) * | 2016-07-21 | 2016-10-26 | 河南省科学院地理研究所 | Verifying method and apparatus based on POS equipment and digital aerial survey camera |
| CN107179533A (en) * | 2017-05-03 | 2017-09-19 | 长安大学 | A kind of airborne LiDAR systematic errors Self-checking method of multi-parameter |
| CN107621628A (en) * | 2017-07-25 | 2018-01-23 | 河南省科学院地理研究所 | One kind placement angle error calibration method |
| CN108225185A (en) * | 2018-01-17 | 2018-06-29 | 北京建筑大学 | A kind of vehicle-mounted scanning system calibration method |
| US10157497B2 (en) * | 2016-04-22 | 2018-12-18 | Utah State University | Textured digital elevation model generation |
| CN110376570A (en) * | 2018-07-09 | 2019-10-25 | 北京京东尚科信息技术有限公司 | Method, system and the equipment that scanner coordinate system and IMU coordinate system are demarcated |
-
2020
- 2020-04-20 CN CN202010310505.3A patent/CN111208497A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103106339A (en) * | 2013-01-21 | 2013-05-15 | 武汉大学 | Synchronous aerial image assisting airborne laser point cloud error correction method |
| CN103196431A (en) * | 2013-04-03 | 2013-07-10 | 武汉大学 | Integral aerial triangulation method for airborne laser scanning point cloud and optical image |
| CN103744661A (en) * | 2013-12-23 | 2014-04-23 | 广东电网公司电力科学研究院 | Multi-sensor data integration processing method and system of minimum altitude unmanned aerial vehicle |
| KR101547940B1 (en) * | 2014-12-17 | 2015-08-28 | 가톨릭관동대학교산학협력단 | An error correction system for data of terrestrial LiDAR on the same plane and the method thereof |
| CN105527621A (en) * | 2016-01-23 | 2016-04-27 | 中国测绘科学研究院 | Rigorous self-calibration algorithm of domestic laser radar system based on virtual conjugate point |
| US10157497B2 (en) * | 2016-04-22 | 2018-12-18 | Utah State University | Textured digital elevation model generation |
| CN106052718A (en) * | 2016-07-21 | 2016-10-26 | 河南省科学院地理研究所 | Verifying method and apparatus based on POS equipment and digital aerial survey camera |
| CN107179533A (en) * | 2017-05-03 | 2017-09-19 | 长安大学 | A kind of airborne LiDAR systematic errors Self-checking method of multi-parameter |
| CN107621628A (en) * | 2017-07-25 | 2018-01-23 | 河南省科学院地理研究所 | One kind placement angle error calibration method |
| CN108225185A (en) * | 2018-01-17 | 2018-06-29 | 北京建筑大学 | A kind of vehicle-mounted scanning system calibration method |
| CN110376570A (en) * | 2018-07-09 | 2019-10-25 | 北京京东尚科信息技术有限公司 | Method, system and the equipment that scanner coordinate system and IMU coordinate system are demarcated |
Non-Patent Citations (2)
| Title |
|---|
| 张顺等: "基于已知特征平面的移动测量系统安置参数检校", 《北京测绘》 * |
| 肖天中: "基于直接地理参考的无人机激光扫描系统的关键技术研究", 《中国优秀硕士学位论文全文数据库 工程科技II辑》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112268558A (en) * | 2020-10-15 | 2021-01-26 | 西北工业大学 | Active target positioning and speed measuring method based on unmanned aerial vehicle autonomous photoelectric platform |
| CN112859052A (en) * | 2021-02-05 | 2021-05-28 | 哈尔滨工业大学 | Airborne laser radar system integration error calibration method based on overlapped flight zone conjugate elements |
| CN115752448A (en) * | 2022-11-03 | 2023-03-07 | 武汉际上导航科技有限公司 | Laser point cloud air belt adjustment method combining point cloud matching and sensor data |
| CN115752448B (en) * | 2022-11-03 | 2024-05-10 | 武汉际上导航科技有限公司 | Laser point cloud navigation belt adjustment method combining point cloud matching and sensor data |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109270534B (en) | Intelligent vehicle laser sensor and camera online calibration method | |
| CN112525162B (en) | System and method for measuring image distance of power transmission line by unmanned aerial vehicle | |
| CN111052132B (en) | Verification module system and method for motion-based lane detection using multiple sensors | |
| CN107886477B (en) | Fusion correction method for three-dimensional vision and low-beam laser radar in unmanned driving | |
| CN111208497A (en) | Airborne laser radar system adjustment processing method | |
| CN106500731B (en) | A kind of Calibration Method of the boat-carrying theodolite based on fixed star simulation system | |
| CN109827541B (en) | Method for improving mutual guide precision of multiple photoelectric theodolites working cooperatively | |
| CN105698821B (en) | A kind of antenna and poor channel error in pointing scaling method | |
| KR102028324B1 (en) | Synthetic Aperture Radar Image Enhancement Method and Calculating Coordinates Method | |
| CN111508029A (en) | Satellite-borne segmented linear array CCD optical camera overall geometric calibration method and system | |
| CN110297234B (en) | Networked large-area passive air target intersection determination method and system | |
| CN110927762A (en) | Positioning correction method, device and system | |
| CN117455960B (en) | Passive positioning filtering method for airborne photoelectric system to ground under time-varying observation noise condition | |
| CN111913169A (en) | Method, equipment and storage medium for correcting laser radar internal reference and point cloud data | |
| CN107817003B (en) | External parameter calibration method of distributed large-size space positioning system | |
| CN110706286A (en) | Vehicle positioning method and system based on ground identification grids and vehicle | |
| CN111538008A (en) | Transformation matrix determining method, system and device | |
| CN114413932B (en) | Positioning error correction testing method based on communication between vehicle-mounted platforms | |
| CN114296097A (en) | SLAM navigation method and system based on GNSS and LiDAR | |
| CN112098926B (en) | Intelligent angle measurement training sample generation method by using unmanned plane platform | |
| KR102028323B1 (en) | Synthetic Aperture Radar Image Enhancement Apparatus and System | |
| CN108733075B (en) | Unmanned aerial vehicle continuous fixed-point surrounding shooting flight system and flight control method thereof | |
| CN115166702B (en) | Automatic calibration method and device for laser radar to vehicle body coordinate system based on high-precision positioning information | |
| WO2023040137A1 (en) | Data processing | |
| CN117310627A (en) | Combined calibration method applied to vehicle-road collaborative road side sensing system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200529 |