机载激光雷达姿态角补偿及其效果验证

王建军; 李云龙; 苗松

doi:10.3788/OPE.20182604.0788

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机载激光雷达姿态角补偿及其效果验证

现代应用光学 | 更新时间：2020-07-05

- 机载激光雷达姿态角补偿及其效果验证
- Effectiveness verification of attitude compensation for airborne LiDAR
- 光学精密工程 2018年26卷第4期页码：788-795
- 作者机构：
  
  山东理工大学机械工程学院, 山东淄博 255049
- 作者简介：
  
  [ "王建军(1973-), 男, 山东淄博人, 博士, 副教授, 2004年于南京理工大学获得硕士学位, 2013于北京航空航天大学获得工学博士学位, 主要研究方向为机载激光雷达三维成像、误差分析及补偿技术。E-mail:wangjianjun@sdut.edu.cn" ]
  [ "李云龙(1993-), 山东泰安人, 男, 硕士研究生, 2015年于山东理工大学获得学士学位, 主要研究方向为机载激光雷达姿态角补偿装置智能控制技术的研究。E-mail:1205966359@qq.com" ]
- 基金信息：
  
  国家自然科学基金资助项目(51575326);国家留学基金资助项目(201508370010);山东省自然科学基金教育厅联合专项(ZR2014JL027);山东省青年教师成长计划经费(2015);山东理工大学博士科研基金资助项目(4041-413028);淄博市校城融合项目(2017ZBXC161)
- DOI：10.3788/OPE.20182604.0788
  中图分类号： TN958.98
- 收稿日期：2017-08-14，
  
  录用日期：2017-10-9，
  
  纸质出版日期：2018-04-25
- 稿件说明：
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王建军, 李云龙, 苗松. 机载激光雷达姿态角补偿及其效果验证[J]. 光学精密工程, 2018,26(4):788-795.

Jian-jun WANG, Yun-long LI, Song MIAO. Effectiveness verification of attitude compensation for airborne LiDAR[J]. Optics and precision engineering, 2018, 26(4): 788-795.
王建军, 李云龙, 苗松. 机载激光雷达姿态角补偿及其效果验证[J]. 光学精密工程, 2018,26(4):788-795. DOI： 10.3788/OPE.20182604.0788.

Jian-jun WANG, Yun-long LI, Song MIAO. Effectiveness verification of attitude compensation for airborne LiDAR[J]. Optics and precision engineering, 2018, 26(4): 788-795. DOI： 10.3788/OPE.20182604.0788.

摘要

机载激光雷达（LiDAR）扫描被测地形获得激光点云，进而重建被测地形的三维图像。机载激光雷达测量过程中，机载平台姿态角时刻发生波动，其对激光点云密度分布及重建三维成像精度具有显著影响。为消除姿态角波动对激光雷达测量的不利影响，设计了一套姿态角补偿装置，包括机械结构设计和控制系统设计；并搭建了半物理仿真实验系统，编制了总控制软件使各子设备之间时间同步控制及数据采集，实现了对机载激光雷达工作原理及姿态角补偿原理的实验仿真和补偿效果验证，补偿后DSM高程精度的RMSE误差由3.50 mm以上减小到3.28 mm。实验结果表明，搭建的半物理仿真实验系统可正确模拟机载激光雷达的工作过程，设计的姿态角补偿样机对机载激光雷达点云产品质量有显著的补偿效果。

Abstract

Airborne LiDAR scans a terrain surface to obtain a laser point cloud

which is used to reconstruct a 3-D image of the surveyed terrain. During the measurement procedure of airborne LiDAR

the attitude angles of the airborne platform always fluctuate

which has a significant influence on the point density distribution of the laser point cloud and on the accuracy of the reconstructed digital surface model (DSM). In order to compensate for the adverse effects of attitude fluctuations

an attitude compensation prototype was designed that includes the mechanical structure and control system design. To verify the influence of attitude fluctuations on LiDAR measurements and to validate the compensation effectiveness of the designed attitude compensation prototype

a semi-physical simulation system was set up. The total control software was programmed to realize the time-synchronization control and data acquisition of all sub-systems. Using the semi-physical simulation system

the imaging procedure of airborne LiDAR and the attitude compensation principle were simulated and verified

and the RMSE of the post-compensation DSM was reduced to 3.28 mm from the original that was over 3.50 mm. Experimental results show that the working process simulation for airborne LiDAR and the compensation principle of the designed attitude compensation prototype are correct

and that the attitude compensation prototype has significant compensation effectiveness for airborne LiDAR.

关键词

Keywords

references

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