發(fā)布時(shí)間：2018-08-12 09:58

【摘要】：基于高精度激光傳感器的噴霧靶標(biāo)特征檢測是精準(zhǔn)施藥變量決策的重要依據(jù)。為了改善復(fù)雜地形條件對(duì)車載激光靶標(biāo)檢測的影響,進(jìn)行了車載激光噴霧靶標(biāo)檢測與矯正研究。該文基于慣性測量單元(inertial measurement unit,IMU)與UTM-30LX型激光傳感器搭建靶標(biāo)檢測試驗(yàn)車,IMU實(shí)時(shí)獲取車體姿態(tài)角的偏航角、俯仰角及側(cè)傾角信息,車載激光傳感器實(shí)時(shí)獲取目標(biāo)切面輪廓的極坐標(biāo)數(shù)據(jù)。將獲取的目標(biāo)切面輪廓的極坐標(biāo)數(shù)據(jù)與試驗(yàn)車姿態(tài)角信息相匹配,通過矯正算法獲取精確的目標(biāo)外形尺寸信息并重構(gòu)目標(biāo)三維圖像。試驗(yàn)設(shè)計(jì)首先對(duì)長方體柜子與仿真樹進(jìn)行車體單一動(dòng)態(tài)俯仰角的檢測試驗(yàn),然后以仿真樹為試驗(yàn)?zāi)繕?biāo),進(jìn)行車體存在復(fù)合動(dòng)態(tài)俯仰角與側(cè)傾角的檢測試驗(yàn),最后在未知地形條件下對(duì)長方體柜子以及仿真樹進(jìn)行動(dòng)態(tài)姿態(tài)角檢測與矯正試驗(yàn)。利用MATLAB軟件對(duì)數(shù)據(jù)矯正分析,對(duì)矯正后的目標(biāo)尺寸信息進(jìn)行誤差分析并重構(gòu)目標(biāo)三維圖像。試驗(yàn)結(jié)果顯示矯正后長方體柜子的高度、寬度最大相對(duì)誤差分別為8.89%和8.00%,仿真樹的高度、寬度以及樹冠高度最大相對(duì)誤差分別為5.63%、10.00%和5.00%,矯正效果良好,驗(yàn)證了矯正算法的有效性。
[Abstract]:The feature detection of spray target based on high precision laser sensor is an important basis for variable decision of precision application. In order to improve the influence of complex terrain conditions on vehicle laser target detection, vehicle laser spray target detection and correction were studied. Based on the inertial measurement unit (inertial measurement) and the UTM-30LX laser sensor, the information of yaw angle, pitch angle and sideslip angle of the body attitude angle are obtained in real time. The vehicle laser sensor can obtain the polar coordinate data of the target profile in real time. The polar coordinate data of the target profile are matched with the attitude angle information of the vehicle, and the accurate shape dimension information of the target is obtained by the correction algorithm and the 3D image of the target is reconstructed. The test design firstly tests the single dynamic pitching angle of the car body on the cuboid cabinet and the simulation tree, and then takes the simulation tree as the test object to test the existence of compound dynamic pitch angle and roll angle of the car body. Finally, the dynamic attitude angle detection and correction experiments are carried out on cuboid cabinets and simulation trees under unknown terrain conditions. The data correction is analyzed by using MATLAB software, and the error of the corrected target size information is analyzed and the 3D image of the target is reconstructed. The test results show that the maximum relative errors of the height and width of the cuboid cabinet after correction are 8.89% and 8.00, respectively. The maximum relative errors of the height, width and crown height of the simulation tree are 5.6310.00% and 5.00%, respectively. The validity of the correction algorithm is verified.
【作者單位】： 江蘇大學(xué)電氣信息工程學(xué)院;
【基金】：國家自然科學(xué)基金項(xiàng)目(51505195) 江蘇高校優(yōu)勢學(xué)科(PAPD)
【分類號(hào)】：S49;TP212
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本文編號(hào)：2178710