長測程地基激光雷達幾何校正研究
發(fā)布時間：2018-10-08 19:34
【摘要】：激光雷達因為其能夠快速獲取目標(biāo)物的三維空間信息以及具有全天候、精度高、費用低等優(yōu)點,因此能迅速的在城市、交通、水利等領(lǐng)域中得到了廣泛的應(yīng)用,因此對于其精度的檢校方面也吸引著許多學(xué)者的研究�，F(xiàn)有的測距校正是基于對波形參數(shù)的校正,但由于波形參數(shù)校正存在著原始波形數(shù)據(jù)的封閉,而導(dǎo)致波峰探測和波形校正的方法的不明確�，F(xiàn)有的波形參數(shù)提取是基于高斯混合模型對回波波形的參數(shù)提取,但這種模型假設(shè)存在著與波形數(shù)據(jù)的非線性、非正態(tài)分布形態(tài)和波形尾部抬升不一致性,導(dǎo)致波形參數(shù)提取的精度受限,而相對輻射校正方法無法直接的得到地物的反射特性。基于波形參數(shù)對測距校正的方法也沒有考慮到儀器設(shè)備的衰減因素。此外,二維激光雷達是通過電流變化來計算其在水平角上和豎直角上的角度變化量,由于儀器在旋轉(zhuǎn)上存在慣性、電子元件的溫度、電子元件的老化導(dǎo)致水平角、豎直角的量測不準(zhǔn)確。因此沒有改正的點云數(shù)據(jù)不能有效地反映地物的真實信息。激光雷達自身的水平角和豎直角的誤差,也會影響回波波形。地基激光雷達的大氣校正和機載激光雷達氣校正也存在著很大的差異性,機載激光雷達的大氣校正是需要考慮太陽高度角、方位角,衛(wèi)星高度角、方位角以及數(shù)據(jù)采集月份與日期。機載激光雷達的大氣校正模型是豎直方向的校正,其中大氣中的顆粒大小,顆粒密度都與地基激光雷達大氣水平方向上存在很大的差異性。本文針對以上存在的不足,首先解決儀器設(shè)備的指向校正問題。具體研究內(nèi)容包括:儀器設(shè)備的水平角、豎直角和測距誤差來源,本文設(shè)計圓形高反標(biāo)標(biāo)靶提取標(biāo)靶中心點的水平角和豎直角,自主設(shè)計特征柱與特征柱載體,采用3D打印技術(shù)打印特征柱與特征載體,在特征柱表面粘貼反射片制作成特征點。在儀器設(shè)備上布設(shè)特征點,通過特征點計算全站儀坐標(biāo)系到激光雷達站心坐標(biāo)系的旋轉(zhuǎn)矩陣和平移矩陣,實現(xiàn)全站儀坐標(biāo)系到儀器站心坐標(biāo)系之間的轉(zhuǎn)換。利用全站儀獲取的圓形標(biāo)靶的中心值作為基準(zhǔn),根據(jù)激光雷達坐標(biāo)值計算公式,構(gòu)建誤差方程,基于最小二乘原理,計算出儀器設(shè)備在水平角和豎直角方向上的系統(tǒng)誤差。經(jīng)過驗證改正后的坐標(biāo)值在Y軸方向上精度提高了1mm,在Z軸方向是精度提高了1mm。然后介紹計算測距改正值的方法,自主設(shè)計具有100%反射率的反射板,使用全站儀對反射板的邊緣點進行坐標(biāo)測量,通過特征點計算得到的旋轉(zhuǎn)矩陣和平移矩陣,實現(xiàn)反射板全站儀坐標(biāo)系到激光雷達坐標(biāo)系的坐標(biāo)轉(zhuǎn)換,并且使用轉(zhuǎn)換后的反射板的邊緣點坐標(biāo)構(gòu)建反射板的平面方程,作為對激光雷達測距校正的約束條件,并將全站儀測距作為基準(zhǔn)值,通過激光雷達坐標(biāo)值計算公式列出誤差方程,基于最小二乘原理,計算測距改正值。經(jīng)過驗證改正后的測距值更加的接近全站儀的測距值。
[Abstract]:Lidar has been widely used in the fields of city, traffic, water conservancy and so on, because it can acquire 3D spatial information of object quickly and has the advantages of all-weather, high precision, low cost, etc. Therefore, the accuracy of the calibration also attracted many scholars. The existing ranging correction is based on the correction of waveform parameters, but because of the closure of the original waveform data, the methods of wave peak detection and waveform correction are not clear. The existing waveform parameters extraction is based on Gao Si mixed model to extract the parameters of echo waveform, but this model assumes that there is nonlinearity with waveform data, non-normal distribution form and wave tail uplift. As a result, the precision of waveform parameter extraction is limited, but the relative radiation correction method can not directly obtain the reflection characteristics of ground objects. The method of ranging correction based on waveform parameters does not take into account the attenuation factor of instrument and equipment. In addition, the two-dimensional lidar calculates the angular variation at the horizontal and vertical angles through current changes. Due to the inertia in the rotation of the instrument, the temperature of the electronic components, and the aging of the electronic components, the horizontal angles are caused. The measurement of vertical angles is inaccurate. Therefore, the point cloud data without correction can not reflect the real information of the objects effectively. The errors of the horizontal and vertical angles of the lidar also affect the echo waveform. There is also a great difference between the atmospheric correction of ground-based lidar and that of airborne lidar. The atmospheric correction of airborne lidar needs to consider the solar altitude angle, azimuth angle and satellite altitude angle. Azimuth and data acquisition month and date. The atmospheric correction model of airborne lidar is vertical correction, in which the particle size and particle density in the atmosphere are very different from those in the horizontal direction of the ground-based lidar. In view of the above shortcomings, this paper first solves the problem of pointing correction of instruments and equipments. The specific research contents include: horizontal angle, vertical angle and ranging error source of the instrument and equipment. In this paper, the horizontal angle and vertical angle of the center point of the target are extracted from the circular high inverse target, and the characteristic column and characteristic column carrier are designed independently. Feature points are made by using 3D printing technology to print feature columns and feature carriers and affixing reflectors on the surface of feature columns. In order to realize the transformation from total station coordinate system to instrument center coordinate system, the rotation matrix and translation matrix of total station coordinate system to laser radar station center coordinate system are calculated. Using the center value of the circular target obtained by the total station as the datum, according to the calculation formula of the lidar coordinate value, the error equation is constructed. Based on the least square principle, the systematic errors of the instrument in the horizontal and vertical angles are calculated. The accuracy of the corrected coordinates is improved by 1mm in the Y-axis direction and 1mm in the Z-axis direction. Then it introduces the method of calculating ranging and correcting positive value, designs the reflective plate with 100% reflectivity, uses the total station instrument to measure the coordinate of the edge point of the reflector, and calculates the rotation matrix and the translation matrix through the characteristic point calculation. The coordinate transformation from the total station coordinate system of reflector to the coordinate system of lidar is realized, and the plane equation of the reflector is constructed by using the coordinate of the edge point of the converted reflector as the constraint condition for the ranging correction of lidar. Taking the total station ranging as the reference value, the error equation is listed through the calculation formula of the lidar coordinate value. Based on the least square principle, the ranging correction value is calculated. After verification, the range value is closer to that of total station.
【學(xué)位授予單位】：江蘇師范大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：P225
本文編號：2258012
[Abstract]:Lidar has been widely used in the fields of city, traffic, water conservancy and so on, because it can acquire 3D spatial information of object quickly and has the advantages of all-weather, high precision, low cost, etc. Therefore, the accuracy of the calibration also attracted many scholars. The existing ranging correction is based on the correction of waveform parameters, but because of the closure of the original waveform data, the methods of wave peak detection and waveform correction are not clear. The existing waveform parameters extraction is based on Gao Si mixed model to extract the parameters of echo waveform, but this model assumes that there is nonlinearity with waveform data, non-normal distribution form and wave tail uplift. As a result, the precision of waveform parameter extraction is limited, but the relative radiation correction method can not directly obtain the reflection characteristics of ground objects. The method of ranging correction based on waveform parameters does not take into account the attenuation factor of instrument and equipment. In addition, the two-dimensional lidar calculates the angular variation at the horizontal and vertical angles through current changes. Due to the inertia in the rotation of the instrument, the temperature of the electronic components, and the aging of the electronic components, the horizontal angles are caused. The measurement of vertical angles is inaccurate. Therefore, the point cloud data without correction can not reflect the real information of the objects effectively. The errors of the horizontal and vertical angles of the lidar also affect the echo waveform. There is also a great difference between the atmospheric correction of ground-based lidar and that of airborne lidar. The atmospheric correction of airborne lidar needs to consider the solar altitude angle, azimuth angle and satellite altitude angle. Azimuth and data acquisition month and date. The atmospheric correction model of airborne lidar is vertical correction, in which the particle size and particle density in the atmosphere are very different from those in the horizontal direction of the ground-based lidar. In view of the above shortcomings, this paper first solves the problem of pointing correction of instruments and equipments. The specific research contents include: horizontal angle, vertical angle and ranging error source of the instrument and equipment. In this paper, the horizontal angle and vertical angle of the center point of the target are extracted from the circular high inverse target, and the characteristic column and characteristic column carrier are designed independently. Feature points are made by using 3D printing technology to print feature columns and feature carriers and affixing reflectors on the surface of feature columns. In order to realize the transformation from total station coordinate system to instrument center coordinate system, the rotation matrix and translation matrix of total station coordinate system to laser radar station center coordinate system are calculated. Using the center value of the circular target obtained by the total station as the datum, according to the calculation formula of the lidar coordinate value, the error equation is constructed. Based on the least square principle, the systematic errors of the instrument in the horizontal and vertical angles are calculated. The accuracy of the corrected coordinates is improved by 1mm in the Y-axis direction and 1mm in the Z-axis direction. Then it introduces the method of calculating ranging and correcting positive value, designs the reflective plate with 100% reflectivity, uses the total station instrument to measure the coordinate of the edge point of the reflector, and calculates the rotation matrix and the translation matrix through the characteristic point calculation. The coordinate transformation from the total station coordinate system of reflector to the coordinate system of lidar is realized, and the plane equation of the reflector is constructed by using the coordinate of the edge point of the converted reflector as the constraint condition for the ranging correction of lidar. Taking the total station ranging as the reference value, the error equation is listed through the calculation formula of the lidar coordinate value. Based on the least square principle, the ranging correction value is calculated. After verification, the range value is closer to that of total station.
【學(xué)位授予單位】：江蘇師范大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：P225
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