基于里程計的車載LiDAR組合導航研究
發(fā)布時間：2018-10-05 08:48
【摘要】：車載激光雷達(LiDAR, Light Detection And Ranging)移動測量系統(tǒng)是一種主動式的測量系統(tǒng),它是集激光測距技術、計算機技術、GNSS定位技術、慣性導航技術(INS)、CCD技術等高新技術于一體的現(xiàn)代測量裝備,具有地面控制少、自動化程度高、作業(yè)周期短等特點。由于車載LiDAR在三維數(shù)據(jù)獲取、道路資產(chǎn)普查、數(shù)字城市三維建模等方面具有巨大優(yōu)勢,并且機動性強、成本費用低,已經(jīng)在各個領域得到廣泛的應用。 車載LiDAR的作業(yè)精度受多方面因素的影響,除了激光測距測角誤差、IMU測姿誤差、各種傳感器的偏移矢量等系統(tǒng)誤差外,影響最大的是由復雜的城市環(huán)境所造成的GPS信號失鎖、多路徑效應等引起的組合導航精度下降。基于GPS失鎖情況下的組合導航精度下降問題,文章針對里程計在提高車載LiDAR組合導航精度的應用進行了研究,具體內容如下： 1.基于霍爾元件的里程計構建技術研究。 里程計作為車載LiDAR組合導航中重要的傳感器,主要負責記錄車輛的里程信息,通過將霍爾接近開關安裝在車體上作為靜子,強磁體安裝在輪轂上作為轉子,完成了對車載里程計構建,并通過實驗對霍爾里程計的脈沖當量及相對于IMU的偏移矢量進行標定。 2.里程計在組合導航中的應用研究。 對里程計在系統(tǒng)平面精度、影像姿態(tài)等方面的影響進行實驗分析,得出結論：在一定程度上高分辨率的里程計要優(yōu)于低分辨率的里程計；GPS失鎖2分鐘時,使用里程計可將車載LiDAR的平面偏差控制在0.6m以內；同時里程計對影像姿態(tài)有一定的修正作用。 3.提高組合導航精度方法研究 在實際作業(yè)過程中,還需要一些特殊手段來提高車載LiDAR的組合導航精度,實驗證明使用里程計進行零速修正、使用航跡點控制軌跡漂移等能有效控制在GPS失鎖時的組合導航精度,對數(shù)據(jù)采集路線進行規(guī)劃也在一定程度上能夠保證數(shù)據(jù)精度,提高作業(yè)效率。
[Abstract]:The (LiDAR, Light Detection And Ranging) mobile measurement system of vehicle lidar is a kind of active measurement system. It is a modern measuring equipment which integrates high and new technologies such as laser ranging technology, computer technology, (INS) technology, inertial navigation technology and so on. Has the ground control small, the automation degree is high, the work cycle is short and so on characteristic. Vehicle LiDAR has been widely used in many fields because of its great advantages in 3D data acquisition, road asset survey, 3D modeling of digital city, and its mobility and low cost. The operational accuracy of LiDAR is affected by many factors. Besides the errors of laser ranging and attitude measurement, and the offset vector of various sensors, the most important influence is the loss of lock of GPS signal caused by complex urban environment. The accuracy of integrated navigation is reduced due to multipath effect. Based on the decline of integrated navigation accuracy in the case of GPS lost lock, this paper studies the application of mileage meter in improving the precision of vehicle LiDAR integrated navigation. The specific contents are as follows: 1. Research on building technology of odometer based on Hall element. As an important sensor in the vehicle LiDAR integrated navigation, the mileometer is mainly responsible for recording the mileage information of the vehicle. By installing the Hall proximity switch on the car body as the stator, the strong magnet is installed on the hub as the rotor. The vehicle odometer is constructed and the pulse equivalent of Hall odometer and the offset vector relative to IMU are calibrated by experiments. 2. Research on the Application of mileage Meter in Integrated Navigation. The effects of mileometer on system plane precision and image attitude are analyzed experimentally. It is concluded that the high resolution odometer is better than the low resolution mileometer when GPS loses lock for 2 minutes to a certain extent. The plane deviation of the vehicle LiDAR can be controlled within 0.6 m by using the mileometer and the image attitude can be corrected by the mileage meter. 3. Research on the method of improving the accuracy of Integrated Navigation in practice, some special methods are needed to improve the accuracy of integrated navigation of vehicle LiDAR. It is proved by experiments that the mileage meter is used for zero speed correction. Using track points to control trajectory drift can effectively control the integrated navigation accuracy when GPS is out of lock. Planning the data acquisition route to a certain extent can also ensure the data accuracy and improve the operation efficiency.
【學位授予單位】：首都師范大學
【學位級別】：碩士
【學位授予年份】：2013
【分類號】：P225
本文編號：2252749
[Abstract]:The (LiDAR, Light Detection And Ranging) mobile measurement system of vehicle lidar is a kind of active measurement system. It is a modern measuring equipment which integrates high and new technologies such as laser ranging technology, computer technology, (INS) technology, inertial navigation technology and so on. Has the ground control small, the automation degree is high, the work cycle is short and so on characteristic. Vehicle LiDAR has been widely used in many fields because of its great advantages in 3D data acquisition, road asset survey, 3D modeling of digital city, and its mobility and low cost. The operational accuracy of LiDAR is affected by many factors. Besides the errors of laser ranging and attitude measurement, and the offset vector of various sensors, the most important influence is the loss of lock of GPS signal caused by complex urban environment. The accuracy of integrated navigation is reduced due to multipath effect. Based on the decline of integrated navigation accuracy in the case of GPS lost lock, this paper studies the application of mileage meter in improving the precision of vehicle LiDAR integrated navigation. The specific contents are as follows: 1. Research on building technology of odometer based on Hall element. As an important sensor in the vehicle LiDAR integrated navigation, the mileometer is mainly responsible for recording the mileage information of the vehicle. By installing the Hall proximity switch on the car body as the stator, the strong magnet is installed on the hub as the rotor. The vehicle odometer is constructed and the pulse equivalent of Hall odometer and the offset vector relative to IMU are calibrated by experiments. 2. Research on the Application of mileage Meter in Integrated Navigation. The effects of mileometer on system plane precision and image attitude are analyzed experimentally. It is concluded that the high resolution odometer is better than the low resolution mileometer when GPS loses lock for 2 minutes to a certain extent. The plane deviation of the vehicle LiDAR can be controlled within 0.6 m by using the mileometer and the image attitude can be corrected by the mileage meter. 3. Research on the method of improving the accuracy of Integrated Navigation in practice, some special methods are needed to improve the accuracy of integrated navigation of vehicle LiDAR. It is proved by experiments that the mileage meter is used for zero speed correction. Using track points to control trajectory drift can effectively control the integrated navigation accuracy when GPS is out of lock. Planning the data acquisition route to a certain extent can also ensure the data accuracy and improve the operation efficiency.
【學位授予單位】：首都師范大學
【學位級別】：碩士
【學位授予年份】：2013
【分類號】：P225
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