CN117665780A - Laser scanner system error calibration target selection method, system and storage medium - Google Patents
Laser scanner system error calibration target selection method, system and storage medium Download PDFInfo
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Abstract
The invention discloses a method, a system and a storage medium for calibrating and selecting targets by using errors of a laser scanner system, wherein in the process of calibrating the errors of the three-dimensional scanner system by using a high-precision total station, coordinates of a target center in a scanner coordinate system and the total station coordinate system are used as homonymous point pairs, an error equation is established according to a system error self-checking model to obtain an error coefficient matrix and a coordinate residual error vector, geometric contribution factors and precision contribution factors of all targets are calculated to obtain precision evaluation factors of all targets and are ranked according to the size, if the minimum evaluation factor is smaller than 0, the target corresponding to the minimum precision evaluation factor is removed, an error equation is reestablished by using the residual targets, and the process is repeated until the minimum precision evaluation factor is not smaller than 0, and the final target combination is obtained. The invention quantitatively analyzes the influence of each target on the systematic error checking precision, and selects the most beneficial target combination scheme so as to improve the systematic error checking precision of the three-dimensional scanner.
Description
Technical Field
The invention relates to the technical field of laser scanner calibration optimization design, in particular to a laser scanner system error calibration target selection method, a system and a storage medium.
Background
The three-dimensional laser scanner is novel rapid spatial information acquisition equipment and can actively sense the distance and the azimuth of environmental objects. Compared with the traditional surveying and mapping means, the technology has the advantages of high measuring speed, high precision, working all day, easy data expression, convenient operation and the like. With the continuous improvement of laser, computer and other technologies, more and more high-precision measurement fields begin to introduce the high-new equipment. However, due to the influence of manufacturing and installation errors, unavoidable systematic errors exist between the finished product and the design prototype, and the checking accuracy of the errors directly influences the data quality. The existing research often improves the precision of systematic error calibration by changing the characteristic patterns, materials or calibration models of the targets. However, the manner in which the effect of each target on the accuracy of systematic error calibration is quantitatively analyzed has not been studied.
Disclosure of Invention
In view of the above problems, the present invention provides a method, a system and a storage medium for error calibration and target selection of a laser scanner system. The method aims at quantitatively analyzing the influence of each target on the systematic error checking precision, so that the optimal target combination is selected, and the systematic error checking precision of the three-dimensional scanner is improved.
The invention adopts the following technical scheme:
a laser scanner system error calibration target selection method comprises the following steps:
step S1: scanning indoor environment point clouds by using a three-dimensional scanner, and obtaining measurement data of the center of each target under a coordinate system of the three-dimensional scanner by using a circle fitting algorithm; sequentially measuring three-dimensional coordinates of the center of the target under a total station coordinate system by using a high-precision total station, and taking measurement data of the center of the same target under a three-dimensional scanner coordinate system and the three-dimensional coordinates under the total station coordinate system as homonymous point pairs;
step S2: will bemThe homonymous point pairs of the individual targets are used as input of a three-dimensional laser scanner system error calibration model to obtain a self-calibration model equation, and the error equation is linearly solved by utilizing a least square principle to obtain an error coefficient matrix and a residual vector;
step S3: calculating the geometric contribution and the precision contribution of each target, and calculating the precision evaluation factor of each target;
step S4: sorting the precision evaluation factors of all targets to obtain minimum precision evaluation factors, and rejecting targets corresponding to the minimum precision evaluation factors smaller than 0;
step S5: order theAnd (3) re-calculating model parameters to obtain a new error coefficient matrix and a residual vector, and repeating the steps S1-S4 until the minimum precision evaluation factor is greater than or equal to 0, stopping selecting targets to obtain the optimal target combination.
Further, the measurement data of the center of each target in the three-dimensional scanner coordinate system in the step S1 are as follows:
the three-dimensional coordinates of the center of each target in the high-precision total station coordinate system are as follows:
wherein,，mindicating the number of targets>Represent the firstiDistance measurement value of center of individual target in measurement data under three-dimensional scanner coordinate system, +.>Represent the firstiHorizontal angle of center of individual targets in measurement data in three-dimensional scanner coordinate system, +.>Represent the firstiA height angle of a center of the individual targets in measurement data in a three-dimensional scanner coordinate system; />Represent the firstiX-axis coordinate of the center of each target under a high-precision total station coordinate system, +.>Represent the firstiY-axis coordinate of the center of each target under a high-precision total station coordinate system, +.>Represent the firstiThe center of each target is at the Z-axis coordinate of the high-precision total station coordinate system.
Further, in the step S2, the system error calibration model of the three-dimensional laser scanner is:
wherein, the error self-checking model is 13 parameters in total,adding constant to distance measurement, +.>For distance measurement multiplying constant, +.>Respectively representing the rotation parameters of X axis, Y axis and Z axis when the three-dimensional scanner coordinate system is converted to the total station coordinate system, +.>Respectively representing the translation parameters of the X direction, the Y direction and the Z direction when the three-dimensional scanner coordinate system is converted to the total station coordinate system, +.>Is the included angle between the mirror surface of the reflector and the X axis of the horizontal axis coordinate system, < >>The included angles between the laser emergent direction and the horizontal axis coordinate system are respectively +.>For the rotation angle of the laser from the horizontal axis to the vertical axis,representing a rotation matrix between the coordinates of the three-dimensional scanner and the coordinates of the total station>Representing a scanner longitudinal axis rotation matrix,>and->Respectively representing the rotation matrix of the horizontal axis coordinate system of the scanner to the vertical axis coordinate system along the X axis and the Y axis,representing the laser vector reflected by the mirror matrix.
Further, in the step S2, an objective function is constructed according to the three-dimensional laser scanner system error calibration model：
To put it inPerforming Taylor series expansion at the position, and taking a primary term to obtain a linearization formula:
wherein,for the correction of the parameters in the self-checking model, < >>Is a function->Partial derivatives of the respective parameters, +.>The expression of (2) is:
wherein,for the initial value of each calibration model parameter,the total station coordinates calculated by the initial parameter values for the scanner coordinates;
constructing an error equation:
is the firstiCoordinate residuals of individual targets, simplified as: />
In the middle ofFor systematic error correction +.>Is a coordinate difference constant term, +.>Is a coordinate difference constant term in the x direction, +.>Is the coordinate difference constant term in the y direction, +.>Is a coordinate difference constant term in the z direction, +.>For the error equation coefficient matrix, < >>Is a constant term->As a residual vector of the coordinates,
。
further, the firstGeometric contribution of individual targets->The method comprises the following steps:
in the method, in the process of the invention,is a unit array->，/>，/>Is->Error equation coefficient for individual targets, +.>Is->Is a transpose of (2);
first, thePrecision contribution of individual targets->The method comprises the following steps:
in the method, in the process of the invention,is->Coordinate residual of individual target solution, +.>To remove->Post-targeting->Coordinate residual of individual targets,/->Respectively represent +.>Coordinate residual component of individual targets,/->Respectively express removal of->Residual target solution after target>Residual components of coordinates of the individual targets.
Further, the accuracy evaluation factor of the target in step S3To remove the target, the parameter solution error is varied:
in the method, in the process of the invention,is->GDOP, & gt of individual targets>Is->Coordinate residuals calculated for the individual targets;
GDOP is defined as，
Then。
Further, the method further comprises the following steps: and (3) taking the output selected targets as target combinations finally used for scanner system error calibration, substituting homonymous point pairs of the selected targets into the self-calibration model in the step S1, and iteratively calculating model parameters according to a least square principle to finish equipment calibration.
Further, the target is a square target or a nested circular target.
On the other hand, the invention also provides a laser scanner calibration target selection system based on the precision evaluation factor, which comprises the following steps:
the homonymy point pair generation module: scanning indoor environment point clouds by using a three-dimensional scanner, and obtaining measurement data of the center of each target under a coordinate system of the three-dimensional scanner by using a circle fitting algorithm; sequentially measuring three-dimensional coordinates of the center of the target under a total station coordinate system by using a high-precision total station, and taking measurement data of the center of the same target under a three-dimensional scanner coordinate system and the three-dimensional coordinates under the total station coordinate system as homonymous point pairs;
error coefficient matrix and residual vector generation module: for the purpose of connectingmThe homonymous point pairs of the individual targets are used as input of a three-dimensional laser scanner system error calibration model to obtain a self-calibration model equation, and the error equation is linearly solved by utilizing a least square principle to obtain an error coefficient matrix and a residual vector;
the precision evaluation factor calculation module: the method comprises the steps of calculating geometric contribution and precision contribution of each target, and calculating precision evaluation factors of each target;
target reject module: the method comprises the steps of sorting precision evaluation factors of all targets to obtain minimum precision evaluation factors, and rejecting targets corresponding to the minimum precision evaluation factors smaller than 0;
the optimal target combination generation module: order theAnd (3) re-calculating model parameters to obtain a new error coefficient matrix and a residual vector, repeating the steps from the homonymy point pair generating module to the target eliminating module until the minimum precision evaluation factor is greater than or equal to 0, and stopping selecting targets to obtain the optimal target combination.
In still another aspect, the present invention provides a computer storage medium, where at least one executable instruction is stored in the storage medium, where the executable instruction causes a processor to execute operations corresponding to the above-mentioned laser scanner system error calibration target selection method.
Compared with the prior art, the invention has the following advantages:
1. the influence of the target combination on the parameter calibration precision of the model is analyzed theoretically, and the action mechanism of the geometric features and the precision features of the target on the parameter calculation precision is intuitively known;
2. deducing a specific expression of geometric contribution and precision contribution of each target to parameter calculation errors, combining the geometric contribution and the precision contribution of each target to parameter calculation errors, defining a concept of a precision evaluation factor, and quantitatively analyzing the influence of each target on system error calculation precision;
3. the method for selecting targets by calibrating the system errors of the laser scanner is characterized in that the influence of each target on the calculation accuracy of the system errors is quantitatively analyzed by using an accuracy evaluation factor, and targets corresponding to the minimum accuracy evaluation factor smaller than 0 are repeatedly removed, so that the target combination most beneficial to the calculation of the system errors is obtained. The method not only selects reasonable target combinations in theory and improves parameter calibration precision, but also eliminates part of targets and improves efficiency of parameter calibration and resolution.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
FIG. 1 is a flow chart of an embodiment of the present invention;
FIG. 2 is a schematic diagram of a target of the present invention;
FIG. 3 is a diagram showing the variation of the minimum accuracy assessment factor according to the present invention;
fig. 4 is a graph showing the change of the center coordinate offset of the spherical target according to the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Example 1
Randomly arranging a plurality of graphic targets on the peripheral walls and the roofs of the indoor environment; the three-dimensional scanner and the high-precision total station are placed on the indoor ground;
as shown in fig. 1, the embodiment provides a method for selecting targets by calibrating errors of a laser scanner system, which includes the following steps:
step 1: scanning indoor environment point clouds by using a three-dimensional scanner, and obtaining measurement data of the center of each target under a coordinate system of the three-dimensional scanner by using a circle fitting algorithm; sequentially measuring three-dimensional coordinates of the center of the target under a total station coordinate system by using a high-precision total station, and taking scanner measurement data and total station measurement coordinates of the same target as homonymy point pairs;
the measurement data of each target center in the scanner coordinate system in step 1 is defined as follows:
wherein,indicating the number of targets>Represent the firstiDistance measurement value of center of individual target in measurement data under three-dimensional scanner coordinate system, +.>Represent the firstiThe horizontal angle of the center of the individual targets in the measurement data in the three-dimensional scanner coordinate system,represent the firstiA height angle of a center of the individual targets in measurement data in a three-dimensional scanner coordinate system;
the three-dimensional coordinates of the center of each target in the high-precision total station coordinate system in the step 1 are defined as follows:，/>
the three-dimensional coordinates of the center of each target in the high-precision total station coordinate system are as follows:
wherein,，mindicating the number of targets>Represent the firstiDistance measurement value of center of individual target in measurement data under three-dimensional scanner coordinate system, +.>Represent the firstiHorizontal angle of center of individual targets in measurement data in three-dimensional scanner coordinate system, +.>Represent the firstiA height angle of a center of the individual targets in measurement data in a three-dimensional scanner coordinate system; />Represent the firstiX-axis coordinate of the center of each target under a high-precision total station coordinate system, +.>Represent the firstiY-axis coordinate of the center of each target under a high-precision total station coordinate system, +.>Represent the firstiThe center of each target is at the Z-axis coordinate of the high-precision total station coordinate system.
Step 2: will bemThe homonymous point pairs of the individual targets are used as input of an error self-checking model, a self-checking model equation is obtained and linearized, and the error equation is solved by utilizing the least square principle to obtain a final error coefficient matrixAnd residual vector->. System error checking and calibrating die of three-dimensional laser scanner in step 2The model is as follows:
wherein, the error self-checking model is 13 parameters in total,adding constant to distance measurement, +.>For distance measurement multiplying constant, +.>Respectively representing the rotation parameters of X axis, Y axis and Z axis when the three-dimensional scanner coordinate system is converted to the total station coordinate system, +.>Respectively representing the translation parameters of the X direction, the Y direction and the Z direction when the three-dimensional scanner coordinate system is converted to the total station coordinate system, +.>Is the included angle between the mirror surface of the reflector and the X axis of the horizontal axis coordinate system, < >>The included angles between the laser emergent direction and the horizontal axis coordinate system are respectively +.>For the rotation angle of the laser from the horizontal axis to the vertical axis,representing a rotation matrix between the coordinates of the three-dimensional scanner and the coordinates of the total station>Representing a scanner longitudinal axis rotation matrix,>and->Respectively representing the rotation matrix of the horizontal axis coordinate system of the scanner to the vertical axis coordinate system along the X axis and the Y axis,representing the laser vector reflected by the mirror matrix.
In step 2, an objective function is constructed according to a system error calibration model of the three-dimensional laser scanner，
To put it inPerforming Taylor series expansion at the position, and taking a primary term to obtain a linearization formula:
wherein,for the correction of the parameters in the self-checking model, < >>Is a function->Partial derivatives of the respective parameters, +.>The expression of (2) is:
constructing an error equation:
is the firstiCoordinate residuals of individual targets, simplified as: />
In the middle ofFor systematic error correction +.>，For the error equation coefficient matrix, < >>Is a constant term->For the coordinate residual vector, +.>。
Setting upError of model parameter true value and least square estimated value, namely model parameter error +.>Can be expressed as:
for the weight matrix, the covariance matrix of the model parameter error is:
GDOP is defined asThe influence degree of the geometric characteristic of the target on the systematic error checking precision is reflected. Let->Calibration parameter solving error->The method comprises the following steps:
GDOP of the individual target is->Remove->Post-targeting->GDOP of the individual target is->The relation between the two is:
in the method, in the process of the invention,is a unit array->，/>，/>Is->Error equation coefficient for individual targets, +.>Is->Is a transpose of (a).
Step 3: calculating geometrical contributions of all targetsAnd precision contribution->，/>Further, the accuracy evaluation factor +/for each target is calculated>；
In the method, in the process of the invention,is->Coordinate residual of individual target solution, +.>To remove->Post-targeting->Coordinate residual of individual targets,/->Respectively represent +.>Residual components of coordinates of the individual targets.
Is provided withThe individual targets calculate model parameters through a self-checking model with an error of +.>Remove->After target, the error of model parameters is +.>And->. Thus, remove->Resolving error of model parameters after individual targets +.>The method comprises the following steps:
step 4: sequencing the precision evaluation factors of all targets to obtain a minimum precision evaluation factorIf (if)The target does not need to be removed, the target selection is finished, and the step 5 is skipped; if->Remove->Corresponding firstTarget, let->Re-calculating model parameters to obtain a new error coefficient matrix and a residual vector, and repeating the steps 1-4 until +.>And jumps to step 5.
Step 5: and (3) taking the output selected targets as target combinations finally used for scanner system error calibration, substituting homonymous point pairs of the selected targets into the self-calibration model in the step (1), and iteratively solving model parameters according to a least square principle to finish equipment calibration. The method can be used for periodic checking and correcting of the system errors of the ground three-dimensional scanner, and can be used for making more reasonable target selection by quantitatively analyzing the influence factors of each target on the calibration precision of the system errors, thereby improving the checking and correcting efficiency and the calibration precision of the system errors.
As shown in fig. 2, since the signal-to-noise ratio of the laser echo affects the ranging accuracy of the ground three-dimensional laser scanner, in general, the higher the echo energy is, the higher the ranging accuracy is. (a) The method is a traditional checkerboard black-and-white target, is widely used in visible light camera calibration and is applied to the calibration of many laser radars, but laser echo energy at the black-and-white alternation of the traditional target is reduced, so that the range finding precision of target feature points is reduced.
In view of the above, this embodiment uses targets that meet the characteristics of lidar for calibration in the implementation of the present invention. Compared with the traditional black-and-white target, the target in the embodiment (b) uses the black-and-white nested circle and the circle center as the center of the target, and the center coordinate can be fitted in a mode of fitting the plane circle, so that higher ranging precision is obtained.
Specifically, 70 planar targets and 10 spherical targets are uniformly arranged in the indoor space, wherein the planar targets are used for calibrating the systematic errors of the three-dimensional scanner, and the spherical targets are used for checking the accuracy of the systematic errors. The test uses the Leica RTC360 as a reference to calibrate the systematic error of the domestic HGS-300 scanner, and two scanners are used for measuring all targets successively. And extracting the characteristic points of the planar target and the center of the spherical target from the point cloud. Calculating the systematic error of the HGS-300 scanner by the plane target characteristic points based on a scanner systematic error self-checking model, and calculating the coordinate offset of the target center in the HGS-300 point cloud and the RTC360 point cloud after systematic error checking by utilizing the spherical target; meanwhile, calculating the precision evaluation factor of each target, judging whether the minimum precision evaluation factor is larger than 0, if the minimum precision evaluation factor is smaller than 0, removing the corresponding target, recalculating the systematic error of the scanner and the coordinate offset of the center of the spherical target, and the like, repeatedly removing the targets until the minimum precision evaluation factor is larger than or equal to 0, and stopping removing the targets to obtain the final target combination. Fig. 3 shows the minimum precision evaluation factor of each target removal, and the minimum precision evaluation factor gradually increases with the increase of the number of target removal targets, and the target negatively guided to the systematic error calibration result gradually decreases. Fig. 4 shows that the systematic error is recalculated after each target removal, the coordinate offset of the center of the spherical target gradually decreases with the increase of the number of target removal, which indicates that the accuracy of systematic error calibration gradually increases, the fitting degree of the two point clouds increases, and the reliability of the target selection algorithm theory and the feasibility of the experiment are also verified.
Example 2
The embodiment provides a laser scanner calibration target selection system based on precision evaluation factors, which comprises:
the homonymy point pair generation module: scanning indoor environment point clouds by using a three-dimensional scanner, and obtaining measurement data of the center of each target under a coordinate system of the three-dimensional scanner by using a circle fitting algorithm; sequentially measuring three-dimensional coordinates of the center of the target under a total station coordinate system by using a high-precision total station, and taking measurement data of the center of the same target under a three-dimensional scanner coordinate system and the three-dimensional coordinates under the total station coordinate system as homonymous point pairs;
error coefficient matrix and residual vector generation module: for the purpose of connectingmThe homonymous point pairs of the individual targets are used as input of a three-dimensional laser scanner system error calibration model to obtain a self-calibration model equation, and the error equation is linearly solved by utilizing the least square principle to obtain an error coefficient momentAn array and a residual vector;
the precision evaluation factor calculation module: the method comprises the steps of calculating geometric contribution and precision contribution of each target, and calculating precision evaluation factors of each target;
target reject module: the method comprises the steps of sorting precision evaluation factors of all targets to obtain minimum precision evaluation factors, and rejecting targets with minimum precision evaluation factors smaller than 0;
the optimal target combination generation module: order theAnd re-calculating the model parameters to obtain a new error coefficient matrix and a residual vector until the optimal target combination is obtained.
Example 3
The embodiment provides a computer storage medium, wherein at least one executable instruction is stored in the storage medium, and the executable instruction enables a processor to execute an operation corresponding to a laser scanner system error calibration target selection method.
Similarly, it should be appreciated that in the above description of exemplary embodiments of the invention, various features of the embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be construed as reflecting the intention that: i.e., the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component and, furthermore, they may be divided into a plurality of sub-modules or sub-units or sub-components. Any combination of all features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be used in combination, except insofar as at least some of such features and/or processes or units are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, any of the claimed embodiments can be used in any combination.
Various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that some or all of the functionality of some or all of the components according to embodiments of the present invention may be implemented in practice using a microprocessor or Digital Signal Processor (DSP). The present invention can also be implemented as an apparatus or device program (e.g., a computer program and a computer program product) for performing a portion or all of the methods described herein. Such a program embodying the present invention may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names. The steps in the above embodiments should not be construed as limiting the order of execution unless specifically stated.
Claims (10)
1. The laser scanner system error calibration target selection method is characterized by comprising the following steps:
step S1: scanning indoor environment point clouds by using a three-dimensional scanner, and obtaining measurement data of the center of each target under a coordinate system of the three-dimensional scanner by using a circle fitting algorithm; sequentially measuring three-dimensional coordinates of the center of the target under a total station coordinate system by using a high-precision total station, and taking measurement data of the center of the same target under a three-dimensional scanner coordinate system and the three-dimensional coordinates under the total station coordinate system as homonymous point pairs;
step S2: will bemThe homonymous point pairs of the individual targets are used as input of a three-dimensional laser scanner system error calibration model to obtain a self-calibration model equation, and the error equation is linearly solved by utilizing a least square principle to obtain an error coefficient matrix and a residual vector;
step S3: calculating the geometric contribution and the precision contribution of each target, and calculating the precision evaluation factor of each target;
step S4: sorting the precision evaluation factors of all targets to obtain minimum precision evaluation factors, and rejecting targets corresponding to the minimum precision evaluation factors smaller than 0;
step S5: order theRe-calculating the model parameters to obtainAnd (3) repeating the steps S1-S4 until the new error coefficient matrix and the new residual error vector are obtained, and stopping selecting targets until the minimum precision evaluation factor is greater than or equal to 0, so as to obtain the optimal target combination.
2. The method for selecting targets by error calibration of a laser scanner system according to claim 1, wherein the measured data of the center of each target in the three-dimensional scanner coordinate system in step S1 is as follows:
the three-dimensional coordinates of the center of each target in the high-precision total station coordinate system are as follows:
wherein,，mindicating the number of targets>Represent the firstiDistance measurement value of center of individual target in measurement data under three-dimensional scanner coordinate system, +.>Represent the firstiHorizontal angle of center of individual targets in measurement data in three-dimensional scanner coordinate system, +.>Represent the firstiA height angle of a center of the individual targets in measurement data in a three-dimensional scanner coordinate system; />Represent the firstiX-axis coordinate of the center of each target under a high-precision total station coordinate system, +.>Represent the firstiY-axis coordinate of the center of each target under a high-precision total station coordinate system, +.>Represent the firstiThe center of each target is at the Z-axis coordinate of the high-precision total station coordinate system.
3. The method for selecting targets by calibrating systematic errors of a laser scanner according to claim 2, wherein the three-dimensional systematic error calibration model of the laser scanner in step S2 is as follows:
wherein, the error self-checking model is 13 parameters in total,adding constant to distance measurement, +.>For distance measurement by multiplicationConstant (F)>Respectively representing the rotation parameters of X axis, Y axis and Z axis when the three-dimensional scanner coordinate system is converted to the total station coordinate system, +.>Respectively representing the translation parameters of the X direction, the Y direction and the Z direction when the three-dimensional scanner coordinate system is converted to the total station coordinate system, +.>Is the included angle between the mirror surface of the reflector and the X axis of the horizontal axis coordinate system, < >>The included angles between the laser emergent direction and the horizontal axis coordinate system are respectively +.>For the rotation angle of the laser from the horizontal axis to the vertical axis,representing a rotation matrix between the coordinates of the three-dimensional scanner and the coordinates of the total station>Representing a scanner longitudinal axis rotation matrix,>and->Respectively representing the rotation matrix of the horizontal axis coordinate system of the scanner to the vertical axis coordinate system along the X axis and the Y axis,representing the laser vector reflected by the mirror matrix.
4. The method for selecting targets by calibrating systematic errors of laser scanner according to claim 3, wherein in step S2, an objective function is constructed according to a three-dimensional laser scanner systematic error calibration model：
To put it inPerforming Taylor series expansion at the position, and taking a primary term to obtain a linearization formula:
wherein,for the correction of the parameters in the self-checking model, < >>Is a function->Partial derivatives of the respective parameters, +.>The expression of (2) is:
wherein,for the initial value of each calibration model parameter,the total station coordinates calculated by the initial parameter values for the scanner coordinates;
constructing an error equation:
is the firstiCoordinate residuals of individual targets, simplified as: />
In the middle ofFor systematic error correction +.>Is a coordinate difference constant term, +.>Is a coordinate difference constant term in the x direction, +.>Is the coordinate difference constant term in the y direction, +.>Is a coordinate difference constant term in the z direction, +.>For the error equation coefficient matrix, < >>Is constantItem (S)>As a residual vector of the coordinates,
。
5. the method for error calibration and target selection for a laser scanner system according to claim 4, wherein the first step ofGeometric contribution of individual targets->The method comprises the following steps:
in the method, in the process of the invention,is a unit array->，/>，/>Is->Error equation coefficient for individual targets, +.>Is->Is a transpose of (2);
first, thePrecision contribution of individual targets->The method comprises the following steps:
in the method, in the process of the invention,is->Coordinate residual of individual target solution, +.>To remove->Post-targeting->Coordinate residual of individual targets,/->Respectively represent +.>Residual coordinates of individual targetsDifferential amount (s)/(s)>Respectively express removal of->Residual target solution after target>Residual components of coordinates of the individual targets.
6. The method for error calibration and target selection of laser scanner system according to claim 5, wherein the accuracy evaluation factor of the target in step S3To remove the target, the parameter solution error is varied:
in the method, in the process of the invention,is->GDOP, & gt of individual targets>Is->Coordinate residuals calculated for the individual targets;
GDOP is defined as，
Then。
7. The laser scanner system error calibration target selection method according to claim 1, further comprising: and (3) taking the output selected targets as target combinations finally used for scanner system error calibration, substituting homonymous point pairs of the selected targets into the self-calibration model in the step S1, and iteratively calculating model parameters according to a least square principle to finish equipment calibration.
8. The method of claim 1, wherein the target is a square target or a nested circular target.
9. A laser scanner calibration target selection system based on a precision evaluation factor, comprising:
the homonymy point pair generation module: scanning indoor environment point clouds by using a three-dimensional scanner, and obtaining measurement data of the center of each target under a coordinate system of the three-dimensional scanner by using a circle fitting algorithm; sequentially measuring three-dimensional coordinates of the center of the target under a total station coordinate system by using a high-precision total station, and taking measurement data of the center of the same target under a three-dimensional scanner coordinate system and the three-dimensional coordinates under the total station coordinate system as homonymous point pairs;
error coefficient matrix and residual vector generation module: for the purpose of connectingmThe homonymous point pairs of the individual targets are used as input of a three-dimensional laser scanner system error calibration model to obtain a self-calibration model equation, and the error equation is linearly solved by utilizing a least square principle to obtain an error coefficient matrix and a residual vector;
the precision evaluation factor calculation module: the method comprises the steps of calculating geometric contribution and precision contribution of each target, and calculating precision evaluation factors of each target;
target reject module: the method comprises the steps of sorting precision evaluation factors of all targets to obtain minimum precision evaluation factors, and rejecting targets corresponding to the minimum precision evaluation factors smaller than 0;
the optimal target combination generation module:order theAnd (3) re-calculating model parameters to obtain a new error coefficient matrix and a residual vector, repeating the steps from the homonymy point pair generating module to the target eliminating module until the minimum precision evaluation factor is greater than or equal to 0, and stopping selecting targets to obtain the optimal target combination.
10. A computer storage medium having stored therein at least one executable instruction for causing a processor to perform operations corresponding to the laser scanner system error calibration targeting method of any one of claims 1-8.
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