本文選題：IMU/DGPS　切入點(diǎn)：機(jī)載激光系統(tǒng)　出處：《華南理工大學(xué)》2013年碩士論文　論文類(lèi)型：學(xué)位論文

【摘要】：由于傳統(tǒng)航空攝影測(cè)量在諸多方面存在局限性，如作業(yè)時(shí)間限制，一般只能在白天進(jìn)行；后期數(shù)據(jù)處理不夠自動(dòng)化，需要人工參與。自20世紀(jì)80年代以來(lái)，，歐美和日本相繼出現(xiàn)各種機(jī)載激光地形測(cè)繪系統(tǒng)，激光系統(tǒng)構(gòu)建容易、成本低，地形掃描快速，環(huán)境適應(yīng)力強(qiáng)，利用激光測(cè)繪系統(tǒng)可以生成較為精確的數(shù)字地面模型和數(shù)字高程模型，目前已被廣泛應(yīng)用于路線勘探、海岸線測(cè)繪、森林資源分布測(cè)繪、數(shù)字城市建設(shè)、LBS位置服務(wù)等諸多領(lǐng)域。 本文首先介紹了機(jī)載激光系統(tǒng)組成，著重于激光系統(tǒng)生成點(diǎn)云數(shù)據(jù)的理論及軟件實(shí)現(xiàn)，包括數(shù)據(jù)通信鏈路協(xié)議、不同傳感器數(shù)據(jù)采集的同步處理、對(duì)姿態(tài)和位置的擴(kuò)展卡爾曼濾波、三維點(diǎn)云生成處理步驟、Delaunay三角化算法、OpenGL的三維顯示與選擇反饋等，即給出了一個(gè)典型的基于小型無(wú)人直升機(jī)的激光測(cè)繪系統(tǒng)的實(shí)現(xiàn)方案。 由于機(jī)載激光系統(tǒng)上面涉及傳感器眾多，軟件處理過(guò)程復(fù)雜，不免在結(jié)果集即三維點(diǎn)云中的X、Y、Z三軸方向會(huì)產(chǎn)生誤差，導(dǎo)致地形傾斜、周期性地扭曲等，因此本文分析了各個(gè)硬件與軟件處理環(huán)節(jié)對(duì)三維點(diǎn)云的影響特征，并進(jìn)行了數(shù)值模擬計(jì)算，方便指導(dǎo)我們?cè)趯?shí)踐過(guò)程中對(duì)誤差的判斷與分析，最后給出了部分系統(tǒng)誤差的檢校與消除方法，包括姿態(tài)角校正、安置角恢復(fù)、平差處理等，誤差包括隨機(jī)誤差和系統(tǒng)誤差，通過(guò)對(duì)誤差的檢校，可以消除大部分的系統(tǒng)誤差，提升點(diǎn)云精度。
[Abstract]:Because of the limitations of traditional aerial photogrammetry in many aspects, such as operating time limit, it can only be carried out during the day, and the later data processing is not automatic enough and requires manual participation. Since 1980s, A variety of airborne laser topographic mapping systems have emerged in Europe, America and Japan one after another. The laser system is easy to build, low in cost, rapid in topographic scanning, and strong in environmental adaptability. Laser mapping system can generate more accurate digital ground model and digital elevation model, which has been widely used in many fields such as route exploration, shoreline mapping, forest resource distribution mapping, digital city construction and LBS location service. This paper first introduces the composition of airborne laser system, focusing on the theory and software implementation of point cloud data generation in laser system, including data communication link protocol, synchronous processing of data acquisition from different sensors. The extended Kalman filter for attitude and position, the three-dimension display and selection feedback for Delaunay triangulation algorithm, a typical laser mapping system based on small unmanned helicopter is presented. Because there are many sensors involved in the airborne laser system and the software processing process is complex, it can't avoid the error in the three axis direction of the result set, that is, the three dimensional point cloud, which leads to the terrain tilt, periodic distortion and so on. Therefore, this paper analyzes the influence characteristics of each hardware and software processing link on 3D point cloud, and carries out numerical simulation calculation, which is convenient to guide us to judge and analyze the error in the process of practice. Finally, the calibration and elimination methods of some system errors are given, including attitude angle correction, fixing angle recovery, adjustment processing and so on. The errors include random error and system error. Most of the system errors can be eliminated by checking the errors. Improve point cloud accuracy.
【學(xué)位授予單位】：華南理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2013
【分類(lèi)號(hào)】：P231;V243

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