本文選題：車載移動(dòng)測(cè)量系統(tǒng) + 檢校��； 參考：《武漢大學(xué)》2016年博士論文

【摘要】：近十幾年來(lái),隨著經(jīng)濟(jì)社會(huì)發(fā)展和測(cè)繪科學(xué)技術(shù)進(jìn)步,測(cè)繪地理信息行業(yè)發(fā)生了翻天覆地的變化,測(cè)繪地理信息數(shù)據(jù)獲取方式也發(fā)生了巨大改變�？焖�、經(jīng)濟(jì)、高效的測(cè)繪地理信息數(shù)據(jù)獲取方式的出現(xiàn),如導(dǎo)航定位服務(wù)、衛(wèi)星遙感、無(wú)人機(jī)航測(cè)、車載激光測(cè)量等技術(shù)應(yīng)用,徹底改變了測(cè)繪地理信息傳統(tǒng)的作業(yè)模式和工作流程。車載移動(dòng)測(cè)量系統(tǒng)作為一種高新的測(cè)繪地理信息儀器裝備,近年來(lái)隨著數(shù)字城市、智慧城市、地理國(guó)情監(jiān)測(cè)等相關(guān)工作的不斷推進(jìn),以及該領(lǐng)域?qū)W者們的不斷努力,其在測(cè)繪地理信息生產(chǎn)中的作用也日益突出。車載移動(dòng)測(cè)量系統(tǒng)是一種兼有定位、測(cè)距、測(cè)角和攝影功能的系統(tǒng),集成了GNSS單元、慣性測(cè)量單元(IMU)、激光掃描儀、數(shù)字相機(jī)以及自動(dòng)控制等技術(shù),以實(shí)現(xiàn)對(duì)目標(biāo)區(qū)域的空間數(shù)據(jù)、屬性數(shù)據(jù)以及實(shí)景影像等多種信息的快速采集。在實(shí)際工程應(yīng)用中,車載移動(dòng)測(cè)量系統(tǒng)的綜合精度始終是最重要的因素。為了確保系統(tǒng)的綜合精度,系統(tǒng)作業(yè)前需要經(jīng)過(guò)嚴(yán)格的檢校,系統(tǒng)檢校是數(shù)據(jù)處理前必須首要解決的問(wèn)題,是難點(diǎn),也是關(guān)鍵點(diǎn),否則,精度無(wú)從談起。本文在推導(dǎo)系統(tǒng)定位模型基礎(chǔ)上,總結(jié)了系統(tǒng)誤差來(lái)源,分析了各部分誤差對(duì)系統(tǒng)精度的影響,提出了單機(jī)檢校和組合檢校方法,并提出系統(tǒng)綜合精度的評(píng)定指標(biāo)和評(píng)定方法。本文的主要工作和創(chuàng)新點(diǎn)概括如下：1.詳細(xì)介紹了車載移動(dòng)測(cè)量系統(tǒng)的組成部分、各部分的工作原理和理論基礎(chǔ),闡述了它們?cè)谙到y(tǒng)中的功能和作用,詳細(xì)推導(dǎo)了系統(tǒng)的定位模型,分析了系統(tǒng)硬件集成的關(guān)鍵技術(shù)。2.分析車載移動(dòng)測(cè)量系統(tǒng)與傳感器相關(guān)、與系統(tǒng)硬件集成相關(guān)的誤差來(lái)源、性質(zhì)與處理方法；推導(dǎo)了各項(xiàng)誤差模型,定量分析了各項(xiàng)誤差對(duì)系統(tǒng)綜合精度的影響；并通過(guò)定位模型從理論上估計(jì)系統(tǒng)精度,給系統(tǒng)集成過(guò)程中傳感器的選擇提供參考。3.提出了車載移動(dòng)測(cè)量系統(tǒng)單機(jī)檢校的概念,利用精度為1×10-11s的銣鐘和5×10-11s時(shí)間計(jì)數(shù)器對(duì)GNSS接收機(jī)的1PPS授時(shí)精度進(jìn)行評(píng)定；利用短基線和零基線方法通過(guò)GAMIT軟件動(dòng)態(tài)解算進(jìn)行GNSS PPK精度評(píng)定；利用GT580型雙軸轉(zhuǎn)臺(tái)和POSLV610進(jìn)行IMU姿態(tài)角精度評(píng)定,兩種方法結(jié)合可以更加準(zhǔn)確地評(píng)定IMU姿態(tài)角精度；利用精度為0.3”的多齒分度臺(tái)對(duì)激光掃描儀進(jìn)行測(cè)角精度評(píng)定,該方法精度高、穩(wěn)定性好、可溯源；根據(jù)激光掃描儀的測(cè)距檢校模型和測(cè)角檢校模型,通過(guò)最小二乘解算相應(yīng)的檢校參數(shù)；重點(diǎn)研究了測(cè)角法對(duì)數(shù)字相機(jī)進(jìn)行單機(jī)檢校,通過(guò)測(cè)定平行光線的入射角度和其對(duì)應(yīng)像片上的像點(diǎn)坐標(biāo),根據(jù)鏡頭畸變平方和最小原則解算出內(nèi)方位元素和畸變參數(shù),改正后的剩余畸變?yōu)?.2個(gè)像素,該方法是在實(shí)驗(yàn)室內(nèi)進(jìn)行,檢校條件可控,檢校過(guò)程標(biāo)準(zhǔn)規(guī)范。4.提出了車載移動(dòng)測(cè)量系統(tǒng)組合檢校的概念,重點(diǎn)研究了利用手動(dòng)檢校方法、基于控制點(diǎn)的檢校方法和基于特征面的檢校方法三種方法進(jìn)行激光掃描儀和IMU的組合檢校,基于控制點(diǎn)的檢校方法精度最高,可以達(dá)到0.001。,手動(dòng)檢校靈活性好、但精度較低；通過(guò)點(diǎn)云坐標(biāo)反算像點(diǎn)坐標(biāo),并將像點(diǎn)坐標(biāo)的色彩信息賦給點(diǎn)云坐標(biāo)完成激光掃描儀和數(shù)字相機(jī)的組合檢校,點(diǎn)云和影像的套合精度為1-2個(gè)像素。5.通過(guò)建立永久性的檢校場(chǎng),借助自制的特殊標(biāo)志和反射片作為特征點(diǎn),便于點(diǎn)云特征提取,提出車載移動(dòng)測(cè)量系統(tǒng)綜合精度評(píng)定的指標(biāo),利用傳統(tǒng)方法獲取這些特征點(diǎn)的高精度三維坐標(biāo)和特征線的長(zhǎng)度值作為基準(zhǔn)值,通過(guò)與系統(tǒng)解算出來(lái)的特征點(diǎn)和特征線進(jìn)行比較,從而完成系統(tǒng)的綜合精度評(píng)定。并且評(píng)價(jià)了實(shí)際工程應(yīng)用中系統(tǒng)的精度,研究表明,經(jīng)過(guò)檢校后的某車載移動(dòng)測(cè)量系統(tǒng),其平面精度可以達(dá)到0.028m,高程精度為0.019m,從而驗(yàn)證了本文提出的單機(jī)檢校和組合檢校方法的正確性。
[Abstract]:Over the past ten years, with the development of economy and society and the progress of Surveying and Mapping Science and technology, the geographic information industry has undergone tremendous changes, and the methods of obtaining geographic information data have also changed greatly. Rapid, economic and efficient mapping of geographic information data, such as navigation and positioning services, satellite remote sensing, unmanned aerial vehicles (UAV) The application of aerial survey and vehicle laser measurement has completely changed the working mode and work flow of Surveying and mapping geographic information. As a kind of high and new surveying and mapping geographic information instrument, the vehicle mobile measurement system has been advancing with the digital city, the intelligent city, the geographical condition monitoring and so on, as well as the scholars in this field. With the continuous efforts, the role of the vehicle in surveying and mapping geographic information production is becoming increasingly prominent. The vehicle mobile measurement system is a system with the functions of positioning, ranging, angle measurement and photography. It integrates the GNSS unit, the inertial measurement unit (IMU), the laser scanner, the digital camera and the automatic control to realize the number of space in the target area. In the practical engineering application, the comprehensive accuracy of the vehicle mobile measurement system is always the most important factor. In order to ensure the comprehensive accuracy of the system, the system needs to be strictly calibrated before the system operation, and the system verification is the first problem to be solved before the data processing, and it is difficult to solve the problem. The point is also the key point, otherwise, the accuracy of the system can not be discussed. On the basis of the derivation of the system positioning model, this paper summarizes the source of the system error, analyzes the influence of the error of each part on the system accuracy, puts forward the method of single machine calibration and combination verification, and puts forward the evaluation index and evaluation method of the system comprehensive accuracy. The main work and innovation of this paper are the main work and the innovation of the system. The following points are summarized as follows: 1. the components of the vehicle mobile measurement system, the working principle and the theoretical basis of each part are introduced in detail. The functions and functions of the system are expounded, the positioning model of the system is derived in detail, and the key technology of the system hardware integration,.2., is analyzed and the correlation between the vehicle mobile measurement system and the sensor system is analyzed. The error sources, properties and processing methods related to the integrated hardware integration, the error models are derived, and the effects of various errors on the integrated precision of the system are analyzed. The system accuracy is estimated from the location model in theory, and a reference.3. for the selection of sensors in the system integration process is proposed. The concept of calibrating, using a 1 x 10-11s rubidium clock and a 5 x 10-11s time counter to evaluate the 1PPS timing accuracy of the GNSS receiver, and using the short baseline and zero baseline methods to evaluate the GNSS PPK accuracy through the dynamic calculation of the GAMIT software, and evaluate the attitude angle accuracy of the IMU with the GT580 dual axis turntable and POSLV610, and two methods. The IMU attitude angle accuracy can be evaluated more accurately; the angle measurement accuracy of the laser scanner is evaluated by the multi tooth indexing table with precision of 0.3. The method has high accuracy, good stability and traceability. According to the laser scanner's range detection model and the angle measurement calibration model, the corresponding calibration parameters are solved through least squares. The angle measurement method is used to calibrate a digital camera. By measuring the incident angle of the parallel light and the coordinates of the image point on the image, the inner elements and the distortion parameters are calculated according to the minimum principle of the square and minimum of the lens distortion. The residual distortion after correction is 0.2 pixels. The method is carried out in the laboratory and the calibration condition is controlled. .4., the Standard Specification for the verification process, puts forward the concept of the combination verification of the vehicle mobile measurement system, and focuses on the combination of three methods, which are the manual calibration method, the control point based calibration method and the feature surface calibration method. The calibration method based on the control point can reach the highest precision and can reach 0. 1, the manual calibration is very flexible, but the precision is low. Through the point cloud coordinates back calculating the image point coordinates, and assigning the color information of the point coordinates to the point cloud coordinates to complete the combination of the laser scanner and the digital camera, the coincidence precision of the point cloud and the image is 1-2 pixels.5. through the establishment of a permanent calibration field, with the help of the special logo and the self-made logo. As a feature point, the reflector is easy to extract the feature of the point cloud, and puts forward the index of the comprehensive accuracy evaluation of the vehicle mobile measurement system. The traditional method is used to obtain the high precision three-dimensional coordinates and the length values of the characteristic lines as the datum value, and to compare the characteristic points and the characteristic lines calculated by the system, so as to complete the system synthesis. The accuracy of the system is evaluated and the accuracy of the system is evaluated in the actual engineering application. The research shows that the plane accuracy of a vehicle mobile measurement system after the calibration can reach 0.028m and the elevation accuracy is 0.019m, thus verifying the correctness of the single machine calibration and the combined calibration method proposed in this paper.
【學(xué)位授予單位】：武漢大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2016
【分類號(hào)】：P234

【相似文獻(xiàn)】

相關(guān)期刊論文 前10條

1 李以赫;;角檢校儀的設(shè)計(jì)方案[J];武測(cè)資料;1984年02期

2 許鳳喜;范金明;王端卿;;檢校測(cè)距儀三軸關(guān)系的實(shí)用方法[J];城市勘測(cè);2008年01期

3 何敏;全斌;;幾種相機(jī)檢校方法的探討[J];測(cè)繪與空間地理信息;2011年06期

4 許妙忠;尹粟;李明;;用航線結(jié)構(gòu)取代地面試驗(yàn)場(chǎng)的線陣航空傳感器檢校方法[J];測(cè)繪學(xué)報(bào);2013年03期

5 馮文灝;關(guān)于近景攝影機(jī)檢校的幾個(gè)問(wèn)題[J];測(cè)繪通報(bào);2000年10期

6 周擁軍;寇新建;;基于平面距離控制的普通數(shù)碼相機(jī)檢校[J];工程勘察;2011年05期

7 焦建新;王維;;光學(xué)對(duì)點(diǎn)器的對(duì)中原理及檢校[J];現(xiàn)代測(cè)繪;2007年06期

8 于勝文;蔡強(qiáng);劉尚國(guó);;數(shù)碼相機(jī)室內(nèi)三維檢校場(chǎng)的精密測(cè)量技術(shù)[J];測(cè)繪科學(xué);2012年01期

9 韓曉冬;楊娜;劉力榮;關(guān)艷玲;;輕小型航空遙感系統(tǒng)空對(duì)地檢校試驗(yàn)分析[J];測(cè)繪通報(bào);2013年01期

10 王峰;宋尚萍;孟凡冬;向元佳;王偉華;;資源三號(hào)衛(wèi)星在軌幾何檢校地面靶標(biāo)鋪設(shè)關(guān)鍵技術(shù)初探[J];測(cè)繪與空間地理信息;2013年07期

相關(guān)會(huì)議論文 前6條

1 鄭莉;羅躍軍;;投影器精確檢校的實(shí)現(xiàn)[A];《測(cè)繪通報(bào)》測(cè)繪科學(xué)前沿技術(shù)論壇摘要集[C];2008年

2 丁朋輝;齊維君;方愛(ài)平;吳秀娟;;數(shù)碼航攝相機(jī)輻射特性的實(shí)驗(yàn)室檢校[A];2009年全國(guó)測(cè)繪儀器綜合學(xué)術(shù)年會(huì)論文集[C];2009年

3 張憲柱;張書畢;姜波;孫慶華;;四拼相機(jī)單相機(jī)檢校算法研究[A];2009全國(guó)測(cè)繪科技信息交流會(huì)暨首屆測(cè)繪博客征文頒獎(jiǎng)?wù)撐募痆C];2009年

4 馮其強(qiáng);李宗春;李廣云;;基于有限元模型的數(shù)字工業(yè)攝影測(cè)量相機(jī)二次檢校[A];第四屆“測(cè)繪科學(xué)前沿技術(shù)論壇”論文精選[C];2012年

5 李雅燦;邱麗榮;張鵬嵩;沙定國(guó);趙維謙;;便攜式多光軸平行性檢校系統(tǒng)的研制[A];第十四屆全國(guó)光學(xué)測(cè)試學(xué)術(shù)討論會(huì)論文（摘要集）[C];2012年

6 賴瑞和;;論唐代的檢校郎官[A];唐史論叢（第十輯）[C];2008年

相關(guān)重要報(bào)紙文章 前7條

1 記者 岳紅革　通訊員 王珊珊;【西安市檢察院】 舉辦研討會(huì)共商檢校合作[N];檢察日?qǐng)?bào);2010年

2 記者 吳寶成;資源三號(hào)測(cè)繪衛(wèi)星進(jìn)行首次在軌幾何檢校[N];中國(guó)測(cè)繪報(bào);2012年

3 朱海;架設(shè)檢校合作平臺(tái) 探索優(yōu)勢(shì)互補(bǔ)道路[N];中國(guó)國(guó)門時(shí)報(bào);2008年

4 記者 王晉晉　通訊員 周慶華 翟延平;“檢校合作”創(chuàng)建學(xué)習(xí)型檢察院[N];鄭州日?qǐng)?bào);2011年

5 奚明軒 張立輝 王剛;“檢校共建”加強(qiáng)高校法制廉政建設(shè)[N];光明日?qǐng)?bào);2005年

6 特約記者 清風(fēng) 盧志堅(jiān);省檢察院與南京大學(xué)率先開(kāi)展檢校全面合作[N];江蘇法制報(bào);2012年

7 本報(bào)記者 彭程　通訊員 葛明亮 丁智;檢校合作促進(jìn)理論與實(shí)踐的融合[N];檢察日?qǐng)?bào);2010年

相關(guān)博士學(xué)位論文 前5條

1 回丙偉;非量測(cè)相機(jī)檢校與目標(biāo)運(yùn)動(dòng)參數(shù)測(cè)量方法研究[D];國(guó)防科學(xué)技術(shù)大學(xué);2013年

2 徐壽志;車載移動(dòng)測(cè)量系統(tǒng)檢校技術(shù)及其精度評(píng)定方法[D];武漢大學(xué);2016年

3 王冬紅;機(jī)載數(shù)字傳感器幾何標(biāo)定的模型與算法研究[D];解放軍信息工程大學(xué);2011年

4 鄒曉亮;車載測(cè)量系統(tǒng)數(shù)據(jù)處理若干關(guān)鍵技術(shù)研究[D];解放軍信息工程大學(xué);2011年

5 雷蓉;星載線陣傳感器在軌幾何定標(biāo)的理論與算法研究[D];解放軍信息工程大學(xué);2011年

相關(guān)碩士學(xué)位論文 前10條

1 蘇春艷;機(jī)載LiDAR多參數(shù)系統(tǒng)誤差檢校方法研究[D];長(zhǎng)安大學(xué);2015年

2 張宏剛;測(cè)區(qū)檢校場(chǎng)在面陣相機(jī)航測(cè)生產(chǎn)中的應(yīng)用研究[D];長(zhǎng)安大學(xué);2016年

3 李鑫;車載移動(dòng)測(cè)量系統(tǒng)誤差分析與檢校方法研究[D];解放軍信息工程大學(xué);2012年

4 姚繼鋒;多傳感器集成檢校的理論方法與實(shí)踐[D];山東科技大學(xué);2011年

5 李平;非量測(cè)型數(shù)碼相機(jī)的檢校[D];西安科技大學(xué);2009年

6 馮鵬飛;基于稀疏矩陣的自檢校光束法平差相機(jī)檢校研究[D];西安科技大學(xué);2014年

7 朱劍鋒;機(jī)載LiDAR系統(tǒng)檢校方法研究[D];長(zhǎng)安大學(xué);2013年

8 李世明;機(jī)載LiDAR系統(tǒng)檢校與應(yīng)用探索分析[D];昆明理工大學(xué);2013年

9 齊艷青;多面陣數(shù)字航攝儀平臺(tái)檢校方法研究[D];河南理工大學(xué);2012年

10 曲直;機(jī)載POS單機(jī)檢校技術(shù)研究與實(shí)驗(yàn)分析[D];山東科技大學(xué);2011年

，

本文編號(hào)：2115684