CN113777591B - Large-plane laser three-dimensional imaging quality calibration field and design method thereof - Google Patents
Large-plane laser three-dimensional imaging quality calibration field and design method thereof Download PDFInfo
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- CN113777591B CN113777591B CN202111009293.6A CN202111009293A CN113777591B CN 113777591 B CN113777591 B CN 113777591B CN 202111009293 A CN202111009293 A CN 202111009293A CN 113777591 B CN113777591 B CN 113777591B
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- G—PHYSICS
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Abstract
The invention relates to a large-plane laser three-dimensional imaging quality calibration field and a design method thereof, wherein the calibration field comprises a plurality of large-plane high-flatness calibration target plates for acquiring laser beam imaging, and the large-plane high-flatness calibration target plates are distributed according to a given arrangement scheme; each calibration target plate comprises a plurality of target plate surface regulators used for regulating the local flatness; the method comprises the following steps: target plate reference plane parameter acquisition, laser three-dimensional Cheng Xiangdian cloud acquisition, error checking and quality precision assessment. Compared with the prior art, the method can improve the three-dimensional imaging quality precision of the laser, meet the requirements of rapid modeling of a landing zone and obstacle recognition, and provide support for safe landing of the planetary detection lander.
Description
Technical Field
The invention relates to the field of laser three-dimensional imaging, in particular to a large-plane laser three-dimensional imaging quality calibration field and a design method thereof.
Background
With the development of deep space exploration technology, the land device safety landing becomes a key task in the success and failure of engineering because of the successive development of surface inspection of extraterrestrial celestial bodies, substance exploration and construction of lunar space stations in various countries. Aiming at the non-repeatability limit of the landing process, the deep space exploration lander in China selects a laser three-dimensional imaging technology to carry out obstacle exploration of a landing zone and safe landing point selection, and high credible imaging measurement level precision is needed. The laser radar (Light Detection and Ranging, liDAR) has the advantages of high measurement accuracy, high angle resolution, high measurement speed, strong anti-interference capability and the like, is not influenced by illumination, can rapidly detect three-dimensional topographic information of a target area, and is an important means for screening a landing zone.
The laser three-dimensional imaging system adopting the multi-beam linear array detection technology combines the optical and electronic imaging high-speed echo processing energy, improves the target detection resolution and imaging rate, and can better meet the requirements of rapid modeling and obstacle recognition of a preset landing zone of a hovering section of the planetary lander. Because the three-dimensional imaging system adopts a complex imaging mode of multi-beam two-dimensional galvanometer scanning and sparse point cloud, errors such as ranging, angle measurement and the like exist in the measuring process, the detection precision of the landing zone obstacle and the reliability of safe landing zone selection are affected, and an effective ground experiment needs to be carried out for imaging quality error analysis and imaging quality improvement.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a high-precision large-plane laser three-dimensional imaging quality calibration field and a design method thereof, so that the three-dimensional imaging precision of a laser is improved, and the requirements of rapid modeling of a landing zone and obstacle recognition are met.
The aim of the invention can be achieved by the following technical scheme:
according to a first aspect of the present invention, there is provided a large-plane laser three-dimensional imaging quality inspection field comprising a plurality of large-plane high-flatness inspection target plates for acquiring laser beam imaging, and being laid out in a given arrangement; each calibration target plate comprises a plurality of target plate surface regulators used for adjusting the local flatness.
Preferably, the calibration target plate is supported by a steel frame, and the steel frame is a keel frame welded by square steel pipes.
Preferably, the keel frame comprises a plurality of small frame units, and the calibration target plate is fixedly connected with the keel frame by utilizing a plurality of steel plate surfaces and small frame unit supporting points.
Preferably, the target plate face adjuster is placed at a small frame cell dividing point of the keel frame.
Preferably, the keel frame adopts square steel pipes as inclined supports.
Preferably, the reference surface of the calibration target plate is coated with a calibration target plate layer for simulating lunar soil reflectivity.
Preferably, the arrangement scheme of the calibration target plate comprises: different imaging distances are designed in the direction perpendicular to the laser imaging direction, and the depth of a laser imaging view field is improved; meanwhile, a plurality of ladder-shaped platforms are designed, so that the height change of the platforms for arranging the calibration target plates is increased, and the vertical imaging view field range is expanded.
Preferably, the arrangement scheme of the calibration target plate comprises: the keel frame base is provided with a steering shaft and is provided with a fixed pile, part of the calibration target plate is provided with a vertical inclination angle and an included angle of an observation direction, and a multi-normal plane calibration standard is constructed by adopting a placement method of different vertical inclination angles and different included angles of the observation directions.
Preferably, the arrangement scheme of the calibration target plate comprises: the target correcting plates are fixedly connected in pairs and form a set included angle, and the constraint of geometric vector characteristics of lines and planes is increased.
According to a second aspect of the present invention, there is provided a design method of a large-plane laser three-dimensional imaging quality calibration field based on the above, the method comprising the steps of:
step S1: acquiring reference plane parameters of a calibration target plate, constructing an area plane control network by using a high-precision total station, acquiring three-dimensional space coordinates of a target plate reference plane, and constructing a multi-direction large plane reference vector matrix; step S2: the method comprises the steps of acquiring a laser three-dimensional Cheng Xiangdian cloud, arranging the laser on an observation holder, designing different observation angles to scan and image a target plate area, respectively acquiring point cloud data of the target plate area, and performing segmentation extraction;
step S3: error checking, namely checking the laser three-dimensional imaging error by using the regional plane control parameters;
step S4: precision evaluation, namely comparing and analyzing correction value and reference value, and evaluating imaging quality precision
Compared with the prior art, the invention has the following advantages:
1) According to the wide-view-field multi-direction large-plane laser three-dimensional imaging quality calibration field, a large-plane calibration target plate with high coplanarity accuracy is built through the high-strength steel plate and the flatness regulator, the three-dimensional imaging quality accuracy of a laser is improved, the requirements of rapid modeling of a landing zone and obstacle identification are met, and a support is provided for safe landing of a planetary detection lander;
2) The invention designs the calibration target plate coating with the wavelength of 1064nm, which is similar to the lunar surface environment, and truly simulates the laser imaging echo signal under the lunar surface weak reflectivity environment;
3) The invention designs a multi-step target plate arranging method with increasing elevation, expands the vertical view field range in laser large view field imaging, and solves the problem of insufficient coverage of the view field in the vertical direction of laser imaging;
4) The invention designs a target plate placement method with different vertical dip angles and different observation direction included angles to construct a multi-normal plane calibration standard, simulates the influence of a complex lunar surface environment on the three-dimensional imaging quality of laser, and solves the problem of inconsistent system errors in a multi-beam laser imaging view field;
5) The invention is based on a multi-direction large-plane high-precision control network of a multi-force centralizer, utilizes a two-dimensional cradle head to set different observation angles of different laser systems, and develops three-dimensional imaging quality calibration of the laser at a distance of about 100 meters from a target plate area.
Drawings
FIG. 1 is a schematic diagram of a three-dimensional imaging quality calibration field for a wide field multi-normal large plane laser in an embodiment;
FIG. 2 shows a laser three-dimensional imaging quality calibration method based on a wide-field multi-normal large plane.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
In the embodiment, a multi-beam laser three-dimensional imaging sensor with a plurality of laser detection units is adopted, a wide-field multi-direction large-plane laser three-dimensional imaging quality checking field is in a four-layer ladder shape, and 19 target plate reference planes with different directions are arranged in total and used for laser three-dimensional imaging quality error checking, as shown in fig. 1.
According to a designed calibration scheme, acquiring 19 target plate plane control parameters by using a high-precision total station, and performing three-dimensional imaging of a laser to be calibrated to acquire point cloud data; and the three-dimensional imaging quality error of the laser is checked, the imaging quality precision is evaluated, and the accurate measurement of the three-dimensional shape of the wide-view-field multi-direction large-plane checking target plate can be realized.
Embodiments of the present invention are described in detail below.
1. Design of reference surface of large-plane high-flatness calibration target plate
The flatness of the reference surface of the calibration target plate is a key technology of laser three-dimensional imaging quality calibration, and the large-plane calibration target plate is designed according to the problem of sparse point cloud of laser rapid imaging in a lunar soft landing precision obstacle detection scene. The height of the calibration target plate is 4 meters, the width of the calibration target plate is 2 meters, and all beams of the laser are ensured to be imaged on the plane of the target plate; for a single target plate, a plurality of target plate surface regulators are designed, and the flatness fitting precision of the target plate plane is guaranteed to be superior to 2mm for a long time. The specific design scheme is as follows:
1.1, designing a steel frame with a square structure, welding a keel frame by using a square steel pipe with large size and high thickness, manufacturing a frame diagonal support by using the square steel pipe, and ensuring the overall stability of a target plate supporting structure; the keel frame is divided into a plurality of small units, and a plurality of steel plate surfaces and frame unit supporting points are designed to ensure that the target plate surface is firmly connected with the keel frame;
1.2, designing a plurality of steel plate surface connection point regulators based on the dividing points of the keel frame units for adjusting the local flatness of the target plate surface; according to building structural load standard (GB 5009-2001), the target plate plane and the keel frame are deformed by 1.8mm under the action of the wind load by combining with the setting environment of a checking field (roughness B class, wind pressure height change coefficient 1.0, body type coefficient 2.0, wind gust coefficient 2.25 and basic wind pressure of 0.55KN/m < 2 > in 50 years in the area), so that the flatness requirement is met. The fitting precision of the large plane flatness is ensured to be better than 2mm for a long time;
1.3 spectral analysis of coatings with different gray scales on the target plate plane is carried out by referring to lunar soil reflectivity, and a calibration target plate coating which is similar to a lunar surface environment and is simulated at a wavelength of 1064nm is designed.
2. Wide-view-field multi-direction calibration target plate arrangement scheme design
The multi-beam laser three-dimensional imaging has systematic errors and affects to different degrees along the imaging center around [4]. Aiming at the imaging characteristics, the invention designs a wide-view-field and multi-direction calibration target plate arrangement scheme, and ensures high credibility of the calibration target plate plane reference. The laser three-dimensional imaging system of the multi-beam linear array detection technology is tightly covered in the imaging view field range, the positioning area of the calibration target plate is 60 m long and 50 m wide, and the specific positioning scheme is designed as follows:
2.1, designing different imaging distances in the direction perpendicular to the laser imaging direction, and improving the depth of a laser imaging field of view; designing a plurality of stepped platforms, increasing the platform elevation change of target plate placement, and expanding the vertical imaging view field range;
2.2 designing a steering shaft of a keel frame base and arranging fixing piles, designing vertical dip angles and included angles of observation directions of part of target plates, and constructing a multi-normal plane calibration standard by adopting arranging methods of different vertical dip angles and included angles of different observation directions;
2.3 designing part of target plates which are fixedly connected in pairs and form a certain included angle, and increasing the constraint of geometric vector characteristics such as lines, planes and the like.
3. Wide-field-of-view multi-direction large-plane laser three-dimensional imaging quality calibration scheme
Considering correlation of calibration parameters among system parameters of the laser radar and between the system parameters and external azimuth elements, integrating influences of a laser and a target plate distance, an observation angle and the like, and designing a laser three-dimensional imaging quality calibration scheme based on a wide-field multi-direction large plane as shown in fig. 2:
s1, obtaining reference plane parameters: constructing an area plane control network by using a high-precision total station, acquiring high-precision three-dimensional space coordinates of a target plate reference surface, and constructing a multi-normal large plane reference vector matrix;
s2, acquiring a laser three-dimensional Cheng Xiangdian cloud: arranging a laser on an observation holder, designing different observation angles to scan and image a target plate area, respectively acquiring point cloud data of the target plate area, and performing segmentation extraction;
s3, error checking: checking and correcting the laser three-dimensional imaging error by using the regional plane control parameters;
s4, precision evaluation: comparing and analyzing the correction value and the reference value, and evaluating the imaging quality precision
According to the novel design method for the large-plane laser three-dimensional imaging quality calibration field with wide view field and multiple directions, a large-plane calibration target plate with high coplanarity accuracy is built through a high-strength steel plate and a flatness regulator, a calibration target plate coating similar to lunar soil reflectivity is designed to simulate a lunar surface weak reflectivity laser imaging environment, a multi-step target plate arranging method with increasing elevation is designed to expand an imaging vertical view field, target plate arranging methods with different vertical dip angles and different observation direction included angles are designed to build a multi-direction plane calibration standard, and the influence of a complex lunar surface environment on laser three-dimensional imaging quality is simulated. The invention can improve the three-dimensional imaging quality precision of the laser, meet the requirements of rapid modeling of a landing zone and obstacle recognition, and provide support for the safe landing of the planetary detection lander.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (6)
1. The quality inspection field is characterized by comprising a plurality of large-plane high-flatness inspection target plates for acquiring laser beam imaging, and the large-plane high-flatness inspection target plates are distributed according to a given arrangement scheme; each calibration target plate comprises a plurality of target plate surface regulators used for regulating the local flatness;
the calibration target plate is supported by a steel frame, and the steel frame is a keel frame welded by square steel pipes; the keel frame comprises a plurality of small frame units, and the calibration target plate is fixedly connected with the keel frame by utilizing a plurality of steel plate surfaces and small frame unit supporting points; the arrangement scheme of the calibration target plate comprises the following steps: different imaging distances are designed in the direction perpendicular to the laser imaging direction, and the depth of a laser imaging view field is improved; meanwhile, a plurality of ladder-shaped platforms are designed, so that the height change of the platforms for arranging the calibration target plates is increased, and the vertical imaging view field range is expanded; the arrangement scheme of the calibration target plate comprises the following steps: the keel frame base is provided with a steering shaft and is provided with a fixed pile, part of the calibration target plate is designed with a vertical inclination angle and an included angle of an observation direction, and a multi-normal plane calibration standard is constructed by adopting a positioning method of different vertical inclination angles and different included angles of the observation direction;
a large-plane calibration target plate with high coplanarity accuracy is built through a high-strength steel plate and a flatness regulator, a calibration target plate coating similar to lunar soil reflectivity is designed to simulate a lunar surface weak reflectivity laser imaging environment, a multi-step target plate arranging method with increasing elevation is designed to expand an imaging vertical view field, and target plate arranging methods with different vertical dip angles and different observation direction included angles are designed to build a multi-normal plane calibration standard.
2. The large planar laser three-dimensional imaging quality inspection field of claim 1, wherein the target plate surface regulator is positioned at a small frame cell dividing point of the keel frame.
3. The large-plane laser three-dimensional imaging quality inspection field according to claim 1, wherein the keel frame uses square steel tubes as diagonal braces.
4. The large planar laser three-dimensional imaging quality inspection field according to claim 1, wherein the reference surface of the inspection target plate is coated with an inspection target plate layer for simulating lunar soil reflectivity.
5. The large-plane laser three-dimensional imaging quality inspection field according to claim 1, wherein the arrangement scheme of the inspection target plate comprises: the calibration target plates are fixedly connected in pairs and form a set included angle, and the constraint of geometric vector characteristics of the line and the surface is increased.
6. A method for designing a large planar laser three-dimensional imaging quality calibration field based on the method of claim 1, comprising the steps of:
step S1: acquiring reference plane parameters of a calibration target plate, constructing an area plane control network by using a high-precision total station, acquiring three-dimensional space coordinates of a target plate reference plane, and constructing a multi-direction large plane reference vector matrix;
step S2: the method comprises the steps of acquiring a laser three-dimensional Cheng Xiangdian cloud, arranging the laser on an observation holder, designing different observation angles to scan and image a target plate area, respectively acquiring point cloud data of the target plate area, and performing segmentation extraction;
step S3: error checking, namely checking the laser three-dimensional imaging error by using the regional plane control parameters;
step S4: and (5) precision evaluation, namely comparing and analyzing the correction value and the reference value, and evaluating the imaging quality precision.
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| CN104820217A (en) * | 2015-04-14 | 2015-08-05 | 同济大学 | Calibration method for multi-element linear array detection imaging laser radar with multiple normal planes |
| CN104849723A (en) * | 2015-04-14 | 2015-08-19 | 同济大学 | Identification method for simulated lunar surface terrain based on multielement linear array laser radar |
| CN106291512A (en) * | 2016-07-29 | 2017-01-04 | 中国科学院光电研究院 | A kind of method of array push-broom type laser radar range Nonuniformity Correction |
| CN111239711A (en) * | 2019-12-10 | 2020-06-05 | 西南技术物理研究所 | Automatic calibration system for laser three-dimensional imaging radar |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106597417A (en) * | 2017-01-10 | 2017-04-26 | 北京航天计量测试技术研究所 | Remote scanning laser radar measurement error correction method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104483664A (en) * | 2015-01-05 | 2015-04-01 | 中国科学院光电研究院 | Single-linear-array laser radar equipment centering method |
| CN104820217A (en) * | 2015-04-14 | 2015-08-05 | 同济大学 | Calibration method for multi-element linear array detection imaging laser radar with multiple normal planes |
| CN104849723A (en) * | 2015-04-14 | 2015-08-19 | 同济大学 | Identification method for simulated lunar surface terrain based on multielement linear array laser radar |
| CN106291512A (en) * | 2016-07-29 | 2017-01-04 | 中国科学院光电研究院 | A kind of method of array push-broom type laser radar range Nonuniformity Correction |
| CN111239711A (en) * | 2019-12-10 | 2020-06-05 | 西南技术物理研究所 | Automatic calibration system for laser three-dimensional imaging radar |
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