CN111220966A - Equal-navigation-width filtering method for airborne laser radar system - Google Patents
Equal-navigation-width filtering method for airborne laser radar system Download PDFInfo
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- CN111220966A CN111220966A CN202010322311.5A CN202010322311A CN111220966A CN 111220966 A CN111220966 A CN 111220966A CN 202010322311 A CN202010322311 A CN 202010322311A CN 111220966 A CN111220966 A CN 111220966A
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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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
- G01S7/4873—Extracting wanted echo signals, e.g. pulse detection by deriving and controlling a threshold value
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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
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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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
- G01S7/491—Details of non-pulse systems
- G01S7/493—Extracting wanted echo signals
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Abstract
The invention relates to a laser radar filtering technology, and discloses an equal-navigation-width filtering method of an airborne laser radar system. The method comprises the following steps: a. acquiring position and attitude information of the unmanned aerial vehicle; b. resolving the absolute position of a laser radar foot point through the unmanned aerial vehicle position attitude information and the laser radar arrangement relation; c. calculating the relative position relationship between the laser radar foot point absolute position and the unmanned aerial vehicle position information; d. and taking the navigation band information meeting the equal navigation width filtering requirement as a threshold, judging whether the relative position relation between the absolute position of the laser radar foot point and the position information of the unmanned aerial vehicle exceeds the threshold, if so, rejecting the point, and otherwise, reserving the point.
Description
Technical Field
The invention relates to a laser radar filtering technology, in particular to an equal-navigation-width filtering method for an airborne laser radar system.
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. Due to system errors, the accuracy of the laser radar data of different emission angles is different. Generally, the accuracy of the airborne laser radar is reduced from the middle to two sides in sequence, namely the accuracy right below the airplane is the highest, and the accuracy on two sides is the worst. In the actual operation process, if the bandwidth of a single-flight-zone point cloud (data generated by flying of an unmanned aerial vehicle along a certain direction is called as data of one flight zone), the high-precision part and the low-precision part are overlapped, so that the precision of the point cloud of the overlapped part is reduced, and in severe cases, the point clouds of different flight zones cannot be overlapped, so that all flight zones are expected to have the same bandwidth in the actual operation.
The current equal-flight-width filtering technology depends on third-party software, and whether point clouds among different flight zones are overlapped or not is mostly calculated, and overlapped parts are removed to meet the bandwidth requirement. Because the original precision of the point cloud is not considered when the point cloud is removed, the high-precision point cloud can be removed, and the precision loss is caused. Therefore, the equal-navigation-width filtering method in the traditional technology can only meet the requirement of uniform point density and cannot ensure the point cloud precision.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method for filtering the equal flight width of the airborne laser radar system is provided, wherein a filtering process is completed in a point cloud data generation stage, so that the generated point cloud data meets the filtering requirement that each flight band has the same width, and the precision of the point cloud is ensured.
The technical scheme adopted by the invention for solving the technical problems is as follows:
an equal-span filtering method for an airborne laser radar system comprises the following steps:
a. acquiring position and attitude information of the unmanned aerial vehicle;
b. resolving the absolute position of a laser radar foot point through the unmanned aerial vehicle position attitude information and the laser radar arrangement relation;
c. calculating the relative position relationship between the laser radar foot point absolute position and the unmanned aerial vehicle position information;
d. and taking the navigation band information meeting the equal navigation width filtering requirement as a threshold, judging whether the relative position relation between the absolute position of the laser radar foot point and the position information of the unmanned aerial vehicle exceeds the threshold, if so, rejecting the point, and otherwise, reserving the point.
As a further optimization, in step a, the method for acquiring the position and orientation information of the drone includes:
acquiring airborne satellite data and reference station satellite data of the unmanned aerial vehicle, and obtaining position information of the unmanned aerial vehicle by differentiating the airborne satellite data and the reference station satellite data;
and carrying out fusion calculation on the airborne inertial navigation data and the position information of the unmanned aerial vehicle to obtain the position and attitude information of the unmanned aerial vehicle.
As a further optimization, in step b, the method for calculating the absolute position of the laser radar foot point through the unmanned aerial vehicle position and attitude information and the laser radar arrangement relationship comprises the following steps:
calculating the position and attitude information of the laser radar in the flight process according to the position relation between the unmanned aerial vehicle and the laser radar;
analyzing the original data of the laser radar, obtaining the relative position relation between the laser radar foot points and the laser radar in the flight process, and calculating the absolute positions of the laser radar foot points by combining the position and attitude information of the laser radar.
As a further optimization, in step c, calculating the relative position relationship between the laser radar foot point absolute position and the unmanned aerial vehicle position information specifically includes:
through the projection of laser radar foot point absolute position and unmanned aerial vehicle positional information on the plane coordinate system, obtain corresponding plane coordinate, calculate the relative position information of the two on the northeast sky coordinate system through the difference between the corresponding plane coordinate, the relative position information on the northeast sky coordinate system of rethread is projected to unmanned aerial vehicle in preceding, right side, the three direction of last, obtains the relative position information of laser radar foot point in the aircraft both sides.
The invention has the beneficial effects that:
precision loss is considered from the point cloud generation angle, most laser radar points which possibly cause flight band overlapping are removed through the navigation width threshold value filtering in the point cloud generation process, and the point cloud precision is guaranteed while the requirement of equal navigation width operation is guaranteed.
Drawings
FIG. 1 is a flow chart of an equal-span filtering method of an airborne laser radar system of the invention.
Detailed Description
The invention aims to provide an equal-navigation-width filtering method of an airborne laser radar system, which is characterized in that a filtering process is completed in a point cloud data generation stage, so that generated point cloud data meets the filtering requirement that each navigation band has the same width, and the point cloud precision is ensured.
The core idea is as follows: in the point cloud generating process, the precision loss of the point cloud is considered, the flight band information is used as a threshold, the data exceeding the flight band width is removed, the precision loss caused by directly removing the data of the flight band overlapping part after the point cloud is generated in the traditional technology is avoided, and because the point cloud removed in the point cloud generating process is basically the point cloud with relatively low precision at two sides of the airplane, the filtering effect can be ensured, and meanwhile, the data precision can also be ensured.
In a specific implementation, the flow of the equal-span filtering method of the airborne laser radar system is shown in fig. 1, and the method comprises the following implementation steps:
1. acquiring position and attitude information of the unmanned aerial vehicle;
in the step, airborne satellite data and reference station satellite data of the unmanned aerial vehicle are obtained, and position information of the unmanned aerial vehicle is obtained by differentiating the airborne satellite data and the reference station satellite data; and carrying out fusion calculation on the airborne inertial navigation data and the position information of the unmanned aerial vehicle to obtain the position and attitude information of the unmanned aerial vehicle.
2. Resolving the absolute position of a laser radar foot point through the unmanned aerial vehicle position attitude information and the laser radar arrangement relation;
in the step, firstly, the position and attitude information of the laser radar in the flight process is calculated according to the position relation between the unmanned aerial vehicle and the laser radar; and acquiring the relative position relation between the laser radar foot points and the laser radar in the flight process by analyzing the original data of the laser radar, and calculating the absolute positions of the laser radar foot points by combining the position and attitude information of the laser radar. It will be understood by those skilled in the art that the term "raw lidar data" refers to scanning data of the lidar to the target area, and the data includes scanning angle, echo time, echo intensity, etc.
3. And calculating the relative position relation between the laser radar foot point absolute position and the unmanned aerial vehicle position information.
In the step, the absolute position information of the laser radar foot points and the position information of the unmanned aerial vehicle are projected onto a plane coordinate system to obtain the coordinate information on the plane coordinate system, the relative position relations in the three directions of the northeast are calculated by taking the difference, and the relative position relations in the three directions of the northeast are projected onto the three directions of the front upper right of the aircraft by the position posture information of the unmanned aerial vehicle in the step 1. And obtaining the relative position information of the laser radar foot points on the two sides of the airplane.
4. And taking the flight band information as a threshold, judging whether the relative position relation between the calculated absolute position of the laser radar foot point and the position information of the unmanned aerial vehicle exceeds the threshold, if so, rejecting the point, and otherwise, reserving the point.
In this step, firstly, the flight band width required by the operation needs to be calculated according to the operation requirements, the flight band width is used as an input parameter of the equal-flight-width filtering, namely, the flight band width is used as a threshold value for judging the equal-flight-width filtering, then the relative position relation between the laser radar foot point absolute position calculated in the step 3 and the unmanned aerial vehicle (namely, the relative positions of the laser radar foot points on the two sides of the aircraft) is compared with the threshold value, if the relative position relation exceeds the threshold value, the laser radar point is out of the range of the equal-flight-width requirement, the laser radar point is rejected, and if the relative position does not exceed the threshold value, the laser radar point meets the equal-flight-width. The calculation of the flight band width is prior art and will not be described in detail here.
In summary, the invention calculates the absolute position of the laser radar foot point based on the position and attitude information of the unmanned aerial vehicle and the installation position of the laser radar on the unmanned aerial vehicle, the absolute position is used for calculating the relative position of the laser radar point on two sides of the aircraft by combining the position of the unmanned aerial vehicle, and finally, whether the calculated relative position of the laser radar point on two sides of the aircraft exceeds the threshold is judged by taking the flight band width required by equal-flight-width filtering as a threshold, so that the equal-flight-width filtering is realized in the laser point cloud generating process, and the data removed by filtering is basically point cloud data with relatively low precision on two sides of the aircraft, so that the operation requirement can be ensured and the point cloud precision can be ensured.
Claims (4)
1. An equal-span filtering method for an airborne laser radar system is characterized by comprising the following steps:
a. acquiring position and attitude information of the unmanned aerial vehicle;
b. resolving the absolute position of a laser radar foot point through the unmanned aerial vehicle position attitude information and the laser radar arrangement relation;
c. calculating the relative position relationship between the laser radar foot point absolute position and the unmanned aerial vehicle position information;
d. and taking the navigation band information meeting the equal navigation width filtering requirement as a threshold, judging whether the relative position relation between the absolute position of the laser radar foot point and the position information of the unmanned aerial vehicle exceeds the threshold, if so, rejecting the point, and otherwise, reserving the point.
2. The equal-span filtering method of an airborne laser radar system according to claim 1,
in step a, the method for acquiring the position and attitude information of the unmanned aerial vehicle comprises the following steps:
acquiring airborne satellite data and reference station satellite data of the unmanned aerial vehicle, and obtaining position information of the unmanned aerial vehicle by differentiating the airborne satellite data and the reference station satellite data;
and carrying out fusion calculation on the airborne inertial navigation data and the position information of the unmanned aerial vehicle to obtain the position and attitude information of the unmanned aerial vehicle.
3. The equal-span filtering method of an airborne laser radar system according to claim 1 or 2,
in the step b, the method for calculating the absolute position of the laser radar foot points through the unmanned aerial vehicle position attitude information and the laser radar arrangement relation comprises the following steps:
calculating the position and attitude information of the laser radar in the flight process according to the position relation between the unmanned aerial vehicle and the laser radar;
analyzing the original data of the laser radar, obtaining the relative position relation between the laser radar foot points and the laser radar in the flight process, and calculating the absolute positions of the laser radar foot points by combining the position and attitude information of the laser radar.
4. The equal-span filtering method of an airborne laser radar system according to claim 1 or 2,
in step c, calculating the relative position relationship between the laser radar foot point absolute position and the unmanned aerial vehicle position information specifically comprises:
through the projection of laser radar foot point absolute position and unmanned aerial vehicle positional information on the plane coordinate system, obtain corresponding plane coordinate, calculate the relative position information of the two on the northeast sky coordinate system through the difference between the corresponding plane coordinate, the relative position information on the northeast sky coordinate system of rethread is projected to unmanned aerial vehicle in preceding, right side, the three direction of last, obtains the relative position information of laser radar foot point in the aircraft both sides.
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