CN115164724A - Shafting error model of ground three-dimensional laser scanner and calibration method - Google Patents
Shafting error model of ground three-dimensional laser scanner and calibration method Download PDFInfo
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- CN115164724A CN115164724A CN202210867473.6A CN202210867473A CN115164724A CN 115164724 A CN115164724 A CN 115164724A CN 202210867473 A CN202210867473 A CN 202210867473A CN 115164724 A CN115164724 A CN 115164724A
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
The invention provides a shafting error model of a ground three-dimensional laser scanner and a calibration method, wherein the shafting error model comprises a transverse shaft motor, a longitudinal shaft motor, a reflector and a distance measurement module; the target field of the self-checking method can be reused, and the target identification and matching can be further automated; the designed black and white target has higher central reflectivity, and the distance measurement in the point cloud is more accurate.
Description
Technical Field
The invention belongs to the technical field of laser radar and instrument error calibration, and relates to a shafting error model and a calibration method of a ground three-dimensional laser scanner.
Background
The ground three-dimensional laser scanner is a novel spatial data acquisition instrument applied to the field of surveying and mapping, and compared with the traditional measuring means, the ground three-dimensional laser scanner has the characteristics of strong initiative, non-contact, all-weather work, high measuring speed, large data volume and the like. The working principle of the system is that laser is emitted, information such as distance, reflectivity and the like of a target is obtained through information such as time, phase and intensity of an emission signal and an echo signal reflected by the surface of an irradiated object, and scanning and angle information in the vertical direction and the horizontal direction is assisted, so that the spatial three-dimensional information of a target reflection point is obtained. The method can quickly acquire the three-dimensional coordinates of the surface of the object, so the method is widely applied to the fields of three-dimensional modeling, digital city, mine measurement, cultural relic restoration, deformation monitoring and the like.
The key of the ground three-dimensional laser scanner for obtaining the accurate three-dimensional coordinate of the target lies in accurate distance measurement and angle measurement, and in a distance measurement system of the ground three-dimensional laser scanner, various distance measurement system errors can exist, including amplitude phase errors caused by different echo amplitudes, temperature errors influenced by temperature, multiplication coefficient errors caused by clock frequency deviation or using light velocity approximate values and the like, and multiplication coefficient errors caused by light-out time delay and light path time delay and the like. Because the distance measurement error is irrelevant to the angle measurement error, the error of the distance measurement system can be calibrated in advance by other calibration methods.
The angle error is divided into two types, the first type is that the measured values of a horizontal angle and a vertical angle caused by the installation eccentricity of an angle measuring sensor (such as a photoelectric encoder) have deviation from the real values, and the deviation can be compensated by a mode of correcting and compensating by a higher-precision angle measuring device or installing a dual radial reading head; the second type is the shafting deflection angle error caused by non-perpendicularity or non-parallelism among the shafting of the ground three-dimensional scanner. For the second type of angle error, the calibration methods widely used at present can be summarized into two types: modular correction method, i.e. separating and correcting each error individually; the self-checking method is characterized in that an error model is established, and model parameters are used as unknowns and are calculated through unified adjustment and calculation.
At present, in a self-checking method, a shafting error model of a total station is commonly used as a shafting error model of the total station, and the shafting error model takes account of aiming axis errors, horizontal axis errors and vertical angle index differences caused by deflection of three orthogonal axes.
Therefore, aiming at the coordinate measuring principle of the ground three-dimensional laser scanner, a shafting error model of the ground three-dimensional laser scanner is provided, and a self-checking calibration method of the model is provided.
Disclosure of Invention
The invention aims to provide a shafting error model of a ground three-dimensional laser scanner and a calibration method, so as to solve the problems in the background technology.
The purpose of the invention can be realized by the following technical scheme: the utility model provides a three-dimensional laser scanner shafting error model in ground, shafting error model includes cross axle motor, axis of ordinates motor, speculum and ranging module, wherein:
cross-shaft motor: driving the reflector to rotate by taking a transverse shaft as a rotating shaft, and recording the current angle of the transverse shaft, wherein the angle of the transverse shaft is measured by using a photoelectric encoder;
longitudinal axis motor: the whole transverse axis motor, the reflector and the distance measuring module are driven to rotate by taking the longitudinal axis as a rotating axis, the current angle of the longitudinal axis is recorded, and the angle of the longitudinal axis is measured by using a photoelectric encoder;
a reflector: reflecting the emergent laser in the distance measuring module so as to enable the laser to emit to the surface of the object, and receiving the laser echo reflected by the surface of the object by the distance measuring module along the original optical path;
the distance measurement module: the system comprises a laser emitting system, a receiving system and a signal processing system, and is used for acquiring an original ranging value.
A calibration method for a shafting error model of a ground three-dimensional laser scanner comprises the following steps:
the basic principle of the self-checking calibration method for the shafting error of the ground three-dimensional laser scanner is as follows: distributing targets with different spatial position distributions in a space, and acquiring spatial position relations and relative position coordinates (x, y, z) of all the targets as true values of the targets by using measuring means such as a high-precision total station or a high-precision ground three-dimensional laser scanner;
and then measuring the original data of all targets in the coordinate system of the ground three-dimensional laser scanner to be calibrated by using the ground three-dimensional laser scanner to be calibrated
Instead of the three-dimensional space rectangular coordinate, finally solving the external orientation element and 5 shafting angle errors to be solved by using a least square method;
the process of solving the unknown parameters by the least square method is as follows:
the mathematical model of the self-checking method is
Linearizing the formula (1), expanding by Taylor series, and taking a first term to obtain
Wherein:
X＝[dΦ 1 dΦ 2 …dΔz n dβ y dβ x dω z dω y dα] T (4)
j is a Jacobian matrix, m measurement point coordinates are total, and n sets of parameters to be calibrated are 6n +5 during station measurement. The error equation can be written as:
-V＝JX-(F-F 0 )＝JX-L (5)
according to the least squares principle, the solution to the system of equations is:
X＝(J T J) -1 J T L (6)
in the formula phi 1 k 、Φ 2 k 、…、α k Representing the parameters to be solved for the k-th iteration. And through continuous iteration, the iteration can be stopped until the variation value of each parameter is less than a certain value, and the parameter to be solved is obtained.
Compared with the prior art, the shafting error model and the calibration method of the ground three-dimensional laser scanner have the advantages that: analyzing shafting errors in the process of converting original data of the ground laser three-dimensional scanner to a space rectangular coordinate, and constructing a more reasonable shafting error model; the target field of the self-checking method can be reused, and the target identification and matching can be further automated; the designed black and white target has higher central reflectivity, and the distance measurement in the point cloud is more accurate.
Drawings
Fig. 1 is a schematic diagram of a measuring principle of a ground three-dimensional laser scanner.
Fig. 2 is a schematic diagram of coordinate calculation of an abscissa coordinate system.
Fig. 3 is a schematic diagram of coordinate calculation of an ordinate system.
Fig. 4 is a schematic diagram illustrating coordinate calculation of the ordinate system.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
The shafting error model comprises a transverse shaft motor, a longitudinal shaft motor, a reflector and a distance measurement module, wherein:
horizontal axis motor: driving the reflector to rotate by taking a transverse shaft as a rotating shaft, and recording the current angle of the transverse shaft, wherein the angle of the transverse shaft is measured by using a photoelectric encoder;
longitudinal axis motor: the whole transverse shaft motor, the reflector and the distance measuring module are driven to rotate by taking the longitudinal shaft as a rotating shaft, the current angle of the longitudinal shaft is recorded, and the angle of the longitudinal shaft is measured by using a photoelectric encoder;
a reflector: reflecting the emergent laser in the distance measuring module so as to enable the laser to emit to the surface of the object, and receiving the laser echo reflected by the surface of the object by the distance measuring module along the original optical path;
the distance measurement module: the system comprises a laser emitting system, a receiving system and a signal processing system, and is used for acquiring an original ranging value.
The measurement principle analysis of the ground three-dimensional laser scanner shows that the existing shafting errors include three types:
the laser emission direction is not parallel to the transverse axis rotation axis, the transverse axis rotation axis is not perpendicular to the longitudinal axis rotation axis, and the included angle between the reflector and the transverse axis rotation axis is not strictly 45 degrees. Due to the existence of the three errors, the original data can be generated
The transformation relationship to the target three-dimensional space rectangular coordinates (x, y, z) cannot be simply converted from spherical coordinates to space rectangular coordinates, and a coordinate transformation model will be established in consideration of these three kinds of errors.
First, consider coordinate calculation in a transverse axis coordinate system, as shown in fig. 2, where the X axis is a transverse axis motor rotation axis, the YOZ plane is a vertical X axis plane, the Y axis points to a direction when the rotation angle θ is 0, the Z axis is determined by a right-hand coordinate system, S is a laser emission point, P is a laser emission point, and 0 is a plane of a single-sided reflector,
and the normal vector of the plane unit, alpha is an included angle between the reflecting surface and the X axis, R is a reflecting point of intersection of the laser and the reflecting surface, and A is a coordinate of the target in the point cloud.
Unit normal vector of reflecting surface
Can be expressed as:
emergent ray with emergent angle error
Via reflection plane P 0 Reflecting back edge
The direction reaches the point A, and the reflection vector is converted into a
In unit vector R = (R) x ，r y ，r z ) T This process can then be described as:
emergent ray with emergent angle error
Is expressed as a unit vector (-1, 0) T Firstly rotate omega around Y axis y And then rotate around the Z axis by omega z Rotation matrix R y And R z Respectively expressed as:
reflecting surface P 0 Of the reflection matrix R r Can be expressed as:
the spatial rectangular coordinate of the point A is:
because the emergent angle error is generally very small, the distance between the laser emergent point and the origin is only centimeter-level, so that the reflecting point R can be approximately considered to be coincident with the origin of coordinates, and
compensation can be performed in addition to the addition coefficient, so equation (6) can be simplified as:
then, consider the coordinate calculation of a ordinate coordinate system, as shown in FIG. 3, where the Z ' axis is the ordinate axis of rotation, and the X ' OZ ' plane and the abscissa axis of rotation point at the ordinate axis rotation angle
The straight lines are parallel at 0 and Y' is determined by the right hand coordinate system. V (x) v ，y v ，z v ) The translation amount of the origin of the abscissa coordinate system under the ordinate coordinate system is shown.
According to the conversion relationship from the abscissa coordinate system to the ordinate coordinate system, there are
Wherein R' x 、R′ y Representing the rotation beta of a horizontal axis coordinate system along the X axis x Then rotate beta along the Y axis y The rotation matrix of (a), which can be respectively expressed as:
since the ground three-dimensional laser scanner will generally design the horizontal axis and the vertical axis to intersect perpendicularly, the horizontal axis coordinate origin V and the vertical axis coordinate origin O can be considered to be coincident, i.e. equation (8) can be approximated as:
in addition to the coordinate transformation caused by the rotation of the longitudinal axis, the spatial three-dimensional coordinates of the object in the longitudinal axis space rectangular coordinate system (i.e. the scanner coordinate system) can be expressed as:
in addition, the conversion of the scanner coordinate system to an external coordinate system needs to be introduced, namely the conversion comprises 3 rotation parameters (phi) i ，Ω i ，K i ) Constituent rotation matrix R (phi) i ，Ω i ，K i ) And 3 translation amounts (Δ x) i ，Δy i ，Δz i ) The spatial three-dimensional coordinates of the object in the external coordinate system can be expressed as:
in summary, in the case where the translation error in equation (6) and equation (8) is negligible, the object space three-dimensional coordinates can be expressed as:
according to the expression of the three-dimensional coordinate of the object space, the unknown parameters are as follows:
Φ i 、Ω i 、K i 、Δx i 、Δy i 、Δz i : 6 external orientation elements of a scanner coordinate system and an external coordinate system, and if n measuring stations exist, 6n external orientation elements are obtained;
α: the included angle between the reflector and the rotating shaft of the transverse shaft;
ω y 、ω z : the angle deviation between the laser emission direction and the rotation axis of the transverse shaft;
β x : the included angle error between the ' 0 ' position angle installation position of the reading of the horizontal axis rotating shaft and the Z ' axis of the vertical axis coordinate system;
β y : angular deviation of the axis of rotation of the horizontal axis from the axis of rotation of the vertical axis.
Example one
Step one, laying a plurality of targets
As each observation station has 6 exterior orientation elements to be solved, under the condition that all the observation stations can scan all targets, the number of the laid targets is at least 7, and the number of the observation stations is at least 5 so as to solve the parameter equation.
In the actual process of laying the targets, the number of the targets is as many as possible, the targets need to cover all directions and angles in a room as much as possible, the measurement of a plurality of measuring stations is carried out simultaneously, and azimuth angles among different measuring stations are also inconsistent as much as possible, so that the targets are ensured to cover more angle ranges in a scanner coordinate system, and further, the resolving precision of the parameters to be solved is improved.
Because the signal-to-noise ratio of the laser echo can affect the ranging accuracy of the ground three-dimensional laser scanner, under the condition that the echo energy is not saturated, the higher the echo energy is, the higher the ranging accuracy is. The traditional checkerboard black-and-white target is widely used in visible light camera calibration and applied to calibration of a plurality of laser radars, but the laser echo energy at the black-and-white alternation position of the traditional target is reduced, so that the distance measurement precision of the target characteristic point is reduced.
Aiming at the situation, a target meeting the characteristics of the laser radar is designed and used for calibration in the implementation process of the invention. As shown in fig. 4 below, compared with the conventional black and white target, the target of the present invention is replaced with a white (high reflectivity) circle at the cross boundary, so that when the laser foot point is scanned to the cross boundary, a higher ranging accuracy can be obtained, and the rest black and white boundaries are not processed, so as to retain the characteristics of the laser foot point in the point cloud.
And secondly, acquiring the spatial position relation and the relative position coordinates of all the targets as the true values of the targets by using measuring means such as a high-precision total station or a high-precision ground three-dimensional laser scanner, and simultaneously recording the serial numbers of the targets and the corresponding relative position coordinate information of the targets.
And for the condition that partial targets are shielded in single-station scanning, multi-station scanning can be performed, so that all targets can acquire relative position coordinates in the point cloud. When multi-station scanning is carried out, the point clouds of the multi-station scanning need to be spliced and are shown in a unified coordinate system.
The identification of the target center and the determination of the sequence number can be completed by point cloud feature extraction and matching algorithm, or manual selection, but different targets and corresponding sequence numbers thereof need to be ensured to be distinguished, so as to ensure that the targets can accurately correspond to the targets in different station point clouds of the subsequent ground laser three-dimensional scanner to be calibrated one by one.
And step three, scanning the targets by using a ground laser three-dimensional scanner to be calibrated to obtain scanner original data of all the targets, and simultaneously corresponding to the target serial numbers obtained in the step two one by one.
As the target feature points are selected by using the spatial three-dimensional rectangular coordinate point cloud converted from the original data of the scanner, rough values need to be given in advance for the angle errors of 5 shafting to be calibrated so as to ensure that the generated spatial three-dimensional rectangular coordinate point cloud has small distortion, the target is clear and visible and the form is complete. In the 5 shafting angle error parameters, the angle deviation is small, so that the angle deviation can be set to be 0; the included angle between the mirror surface and the rotation axis of the transverse shaft can take a mechanical design value as a rough value, such as 45 degrees; the included angle error between the '0' position angle installation position of the reading of the horizontal axis rotating shaft and the vertical axis coordinate system shaft is involved, so that the point cloud 1 at the moment is collected in advance under the conditions that the vertical axis is not rotated and the horizontal axis is rotated, the point cloud 2 is collected again after the vertical axis is rotated by 180 degrees, and the rough offset angle is adjusted, so that the point cloud 1 and the point cloud 2 are approximately overlapped or scanned to form a parallel ceiling.
And for the conditions that partial targets are shielded, the number of the targets is less or the coverage angle range of the single-station targets is not large in single-station scanning, multi-station scanning can be performed, so that the same target can be repeatedly observed in point clouds of different observation stations.
The identification of the target center and the determination of the sequence number can be completed by point cloud feature extraction and matching algorithms, and can also be selected manually, but the target center can be ensured to be accurately in one-to-one correspondence with the target sequence number of the known relative spatial position coordinate.
And step four, establishing an error equation for all target original data observed in each survey station of the ground laser three-dimensional scanner to be calibrated and the corresponding target relative position coordinates of the target original data, iteratively solving individual exterior orientation elements and 5 shafting angle error parameters by using a nonlinear least square method, and stopping iteration until the correction number of the unknown number is smaller than a certain threshold value to obtain 5 shafting angle error parameters of the ground laser three-dimensional scanner.
The method analyzes the shafting error in the process of converting the original data of the ground laser three-dimensional scanner to the space rectangular coordinate, and constructs a more reasonable shafting error model; the target field of the self-checking method can be reused, and the target identification and matching can be further automated; the designed black and white target has higher central reflectivity, and the distance measurement in the point cloud is more accurate.
Those not described in detail in this specification are within the skill of the art. The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (2)
1. The utility model provides a three-dimensional laser scanner shafting error model in ground which characterized in that, shafting error model includes cross axle motor, axis of ordinates motor, speculum and ranging module, wherein:
cross-shaft motor: driving the reflector to rotate by taking a transverse shaft as a rotating shaft, and recording the current angle of the transverse shaft, wherein the angle of the transverse shaft is measured by using a photoelectric encoder;
longitudinal axis motor: the whole transverse axis motor, the reflector and the distance measuring module are driven to rotate by taking the longitudinal axis as a rotating axis, the current angle of the longitudinal axis is recorded, and the angle of the longitudinal axis is measured by using a photoelectric encoder;
a reflector: reflecting the emergent laser in the distance measuring module so as to enable the laser to emit to the surface of an object, and receiving the laser echo reflected by the surface of the object by the distance measuring module along the original optical path;
the distance measurement module: the system comprises a laser emitting system, a receiving system and a signal processing system, and is used for acquiring an original ranging value.
2. A calibration method for a shafting error model of a ground three-dimensional laser scanner is characterized by comprising the following steps:
the basic principle of the self-checking calibration method for the shafting error of the ground three-dimensional laser scanner is as follows: distributing targets with different spatial position distributions in a space, and acquiring spatial position relations and relative position coordinates (x, y, z) of all the targets as true values of the targets by using measuring means such as a high-precision total station or a high-precision ground three-dimensional laser scanner;
and measuring the original data of all targets in the coordinate system of the ground three-dimensional laser scanner to be calibrated by using the ground three-dimensional laser scanner to be calibrated
Instead of the three-dimensional space rectangular coordinate, finally solving the external orientation element and 5 shafting angle errors to be solved by using a least square method;
the process of solving the unknown parameters by the least square method is as follows:
the mathematical model of the self-checking method is
Linearizing the formula (1), expanding by Taylor series, and taking a first term to obtain
Wherein:
X＝[dΦ 1 dΦ 2 … dΔz n dβ y dβ x dω z dω y dα] T (4)
j is a Jacobian matrix, m measurement point coordinates are total, and 6n +5 parameters are to be calibrated when n measurement stations are set. The error equation can be written as:
-V＝JX-(F-F 0 )＝JX-L (5)
according to the least squares principle, the solution to the system of equations is:
X＝(J T J) -1 J T L (6)
in the formula phi 1 k 、Φ 2 k 、…、α k Representing the parameters to be solved for the kth iteration. And through continuous iteration, stopping iteration until the variation value of each parameter is less than a certain value, and obtaining the parameter to be solved.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115657061A (en) * | 2022-12-13 | 2023-01-31 | 成都量芯集成科技有限公司 | Indoor wall surface three-dimensional scanning device and method |
| CN116299368A (en) * | 2023-05-19 | 2023-06-23 | 深圳市其域创新科技有限公司 | Precision measuring method and device for laser scanner, scanner and storage medium |
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| CN117665780A (en) * | 2024-01-31 | 2024-03-08 | 武汉大学 | Laser scanner system error calibration target selection method, system and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115657061A (en) * | 2022-12-13 | 2023-01-31 | 成都量芯集成科技有限公司 | Indoor wall surface three-dimensional scanning device and method |
| CN116299368A (en) * | 2023-05-19 | 2023-06-23 | 深圳市其域创新科技有限公司 | Precision measuring method and device for laser scanner, scanner and storage medium |
| CN116299368B (en) * | 2023-05-19 | 2023-07-21 | 深圳市其域创新科技有限公司 | Precision measuring method and device for laser scanner, scanner and storage medium |
| CN117190983A (en) * | 2023-09-05 | 2023-12-08 | 湖南天桥嘉成智能科技有限公司 | Tunnel ultra-underexcavation detection system, method, equipment and storage medium |
| CN117190983B (en) * | 2023-09-05 | 2024-04-26 | 湖南天桥嘉成智能科技有限公司 | Tunnel ultra-underexcavation detection system, method, equipment and storage medium |
| CN117665780A (en) * | 2024-01-31 | 2024-03-08 | 武汉大学 | Laser scanner system error calibration target selection method, system and storage medium |
| CN117665780B (en) * | 2024-01-31 | 2024-04-19 | 武汉大学 | Laser scanner system error calibration target selection method, system and storage medium |
| CN117724114A (en) * | 2024-02-09 | 2024-03-19 | 深圳市奇航疆域技术有限公司 | Three-dimensional laser scanning device and method based on laser range finder |
| CN117724114B (en) * | 2024-02-09 | 2024-04-19 | 深圳市奇航疆域技术有限公司 | Three-dimensional laser scanning device and method based on laser range finder |
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