本文選題：國(guó)產(chǎn)機(jī)載LiDAR系統(tǒng) + 誤差分析��； 參考：《遼寧工程技術(shù)大學(xué)》2014年碩士論文

【摘要】：隨著科技進(jìn)步、經(jīng)濟(jì)的快速發(fā)展,人們對(duì)空間信息獲取的數(shù)據(jù)精度、現(xiàn)勢(shì)性及產(chǎn)品質(zhì)量等各方面提出了越來越高的要求。機(jī)載LiDAR軟硬件在國(guó)外發(fā)展比較成熟且取得了大量商業(yè)化產(chǎn)品,而國(guó)內(nèi)還處于發(fā)展階段,迫切需要一套具有自主知識(shí)產(chǎn)權(quán)的國(guó)產(chǎn)機(jī)載激光雷達(dá)系統(tǒng)。在國(guó)家重點(diǎn)項(xiàng)目支撐下,中國(guó)測(cè)繪科學(xué)研究院聯(lián)合多家單位成功研制了一套國(guó)產(chǎn)機(jī)載LiDAR系統(tǒng),本文基于國(guó)產(chǎn)LiDAR系統(tǒng)組成與工作原理,對(duì)國(guó)產(chǎn)機(jī)載激光雷達(dá)系統(tǒng)的定位模型、集成檢校、探索應(yīng)用等方面進(jìn)行了深入研究,本文包括：一、系統(tǒng)定位模型的建立與誤差分析。依據(jù)系統(tǒng)組成與工作原理,建立該系統(tǒng)的定位模型,分析該系統(tǒng)所存在的八種誤差,在VS2010 C++的開發(fā)平臺(tái)上開發(fā)程序GeoVision Point Cloud,該程序主要包括軌跡生成、誤差糾正、坐標(biāo)解算、MRK文件生成等相關(guān)功能,通過所采集試驗(yàn)數(shù)據(jù)進(jìn)行解算激光點(diǎn)云數(shù)據(jù),并進(jìn)行精度評(píng)定,以此來驗(yàn)證該模型的可行性與正確性。二、系統(tǒng)集成檢校。國(guó)產(chǎn)機(jī)載LiDAR系統(tǒng)由多種傳感器高度集成,各傳感器之間的安置誤差對(duì)后期數(shù)據(jù)產(chǎn)品的精度與質(zhì)量有很大影響,故需要對(duì)該集成系統(tǒng)進(jìn)行檢校,以獲取相關(guān)參數(shù),其中檢校參數(shù)主要包括POS與GPS、LiDAR與POS、相機(jī)與POS之間安置元素的解算,針對(duì)不同的傳感器之間的安置元素設(shè)計(jì)不同的檢校模型,以精確獲取各傳感器之間的安置元素,進(jìn)一步提高激光點(diǎn)云數(shù)據(jù)的定位精度。利用檢校前后數(shù)據(jù)進(jìn)行對(duì)比分析,發(fā)現(xiàn)數(shù)據(jù)質(zhì)量明顯得到提高。三、國(guó)產(chǎn)機(jī)載激光雷達(dá)系統(tǒng)的應(yīng)用試驗(yàn)分析。首次將國(guó)產(chǎn)機(jī)載激光雷達(dá)系統(tǒng)應(yīng)用到水利行業(yè)的河道治理、地質(zhì)災(zāi)害監(jiān)測(cè)及電力巡線領(lǐng)域,針對(duì)不同領(lǐng)域應(yīng)用需求,設(shè)計(jì)國(guó)產(chǎn)LiDAR系統(tǒng)的專業(yè)應(yīng)用方案,通過實(shí)際飛行獲取激光數(shù)據(jù)、影像數(shù)據(jù)及POS數(shù)據(jù)。數(shù)據(jù)處理結(jié)果表明,將該系統(tǒng)應(yīng)用到這些領(lǐng)域是可行的。同時(shí)也更好的實(shí)現(xiàn)了國(guó)產(chǎn)機(jī)載激光雷達(dá)系統(tǒng)跨行業(yè)的應(yīng)用推廣。
[Abstract]:With the development of science and technology and the rapid development of economy, more and more demands have been put forward on the data accuracy, present situation and product quality of spatial information acquisition. The software and hardware of airborne LiDAR have been developed in foreign countries and a large number of commercial products have been obtained. However, in China, there is an urgent need for a domestic airborne lidar system with independent intellectual property rights. Under the support of national key projects, the China Academy of surveying and Mapping has successfully developed a set of domestic airborne LiDAR system. Based on the composition and working principle of domestic LiDAR system, the localization model of domestic airborne lidar system has been developed in this paper. Integrated checking, exploring and application are studied in detail. This paper includes: first, the establishment of system positioning model and error analysis. According to the composition and working principle of the system, the positioning model of the system is established, and the eight kinds of errors in the system are analyzed. The program GeoVision Point Cloudis developed on the platform of VS2010 C, which mainly includes trajectory generation, error correction, etc. In order to verify the feasibility and correctness of the model, the MRK files are generated and the laser point cloud data are calculated by the collected experimental data, and the accuracy is evaluated to verify the feasibility and correctness of the model. Second, system integration checking. The domestic airborne LiDAR system is highly integrated by a variety of sensors, and the placement errors among the sensors have a great influence on the accuracy and quality of the later data products. Therefore, it is necessary to check the integrated system to obtain the relevant parameters. The calibration parameters mainly include POS and GPS LiDAR and POS, and the solution of placement elements between camera and POS. Different calibration models are designed for different sensors to accurately obtain the placement elements between sensors. Further improve the location accuracy of laser point cloud data. By comparing and analyzing the data before and after checking, it is found that the quality of the data is improved obviously. Third, the application test analysis of domestic airborne lidar system. For the first time, the domestic airborne lidar system is applied to the water conservancy industry in the fields of river treatment, geological hazard monitoring and power line inspection. The professional application scheme of domestic LiDAR system is designed according to the application requirements in different fields. Laser data, image data and POS data are obtained by actual flight. The data processing results show that it is feasible to apply the system to these fields. At the same time, it also realizes the cross-industry application of domestic airborne lidar system.
【學(xué)位授予單位】：遼寧工程技術(shù)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：P237

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