CN111208497A - Airborne laser radar system adjustment processing method - Google Patents
Airborne laser radar system adjustment processing method Download PDFInfo
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- 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
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- aerial vehicle
- unmanned aerial
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- laser radar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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.
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| 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 |
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Application publication date: 20200529 |