单线激光雷达与GNSS/INS的空间重构

王锐; 常锴; 符国浩; 王世峰; 徐熙平; 王作斌

doi:10.3788/OPE.20202804.0851

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单线激光雷达与GNSS/INS的空间重构

现代应用光学 | 更新时间：2020-08-13

- 单线激光雷达与GNSS/INS的空间重构
- Space reconstruction using single-line LIDAR and GNSS/INS fused data
- 光学精密工程 2020年28卷第4期页码：851-858
- 作者机构：
  
  1.长春理工大学光电工程学院，吉林长春 130022
  2.长春理工大学电子信息工程学院，吉林长春 130022
  3.长春理工大学国家纳米操纵与制造国际联合研究中心，吉林长春 130022
- 作者简介：
  
  [ "王锐 (1993-)，男，吉林长春人，博士研究生，2016年于长春理工大学获得学士学位，主要从事智能仪器系统、光电检测方向的研究。E-mail：wangrui1240@163.com" ]
  徐熙平 (1969-)，男，吉林长春人，博士，教授，博士生导师，1993，1999，2004年于长春理工大学分别获得学士、硕士以及博士学位，主要从事智能仪器系统、光电检测等的研究。E-mail：xxp@cust.edu.cn XU Xi-ping, E-mail: xxp@cust.edu.cn
- 基金信息：
  
  吉林省自然科学基金资助项目(20150101047JC);国家留学基金资助项目(201908220241)
- DOI：10.3788/OPE.20202804.0851
  中图分类号： TN958.98
- 收稿日期：2019-10-10，
  
  修回日期：2019-12-10，
  
  录用日期：2019-12-10，
  
  纸质出版日期：2020-04-15
- 稿件说明：
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王锐, 常锴, 符国浩, 等. 单线激光雷达与GNSS/INS的空间重构[J]. 光学精密工程, 2020,28(4):851-858.

Rui WANG, Kai CHANG, Guo-hao FU, et al. Space reconstruction using single-line LIDAR and GNSS/INS fused data[J]. Optics and precision engineering, 2020, 28(4): 851-858.
王锐, 常锴, 符国浩, 等. 单线激光雷达与GNSS/INS的空间重构[J]. 光学精密工程, 2020,28(4):851-858. DOI： 10.3788/OPE.20202804.0851.

Rui WANG, Kai CHANG, Guo-hao FU, et al. Space reconstruction using single-line LIDAR and GNSS/INS fused data[J]. Optics and precision engineering, 2020, 28(4): 851-858. DOI： 10.3788/OPE.20202804.0851.

摘要

为了解决多线激光雷达在三维空间重构任务中数据吞吐量过大导致运算负担过重以及扫描俯仰范围有限的问题，本文提出了一种利用单线激光雷达与惯性测量单元GNSS/INS相互结合的多站点扫描空间重构方案及相应解算方法。首先使用单线激光雷达扫描待测空间获取三维尺度信息，然后将点云数据与对应的任意方向的航向角相结合，再利用四元数姿态解算获取各站点扫描的点云图像。为提高计算效率，使用迭代最近点算法实现站点间点云配准时，对待匹配点云数据筛选并更新。实验结果表明：在保留点云数字特征前提下，单线激光雷达与GNSS/INS系统能够提高76%的运算速率。本文提出的硬件方案和解算方法不但能够实现较高的配准精度，与多线激光雷达方案相比工程成本也得到显著下降。

Abstract

In a three-dimensional reconstruction task

the pitch range of the multi-layer light detection and ranging (LIDAR) is limited

and the data account of the multi-layer LIDAR is large

which increases the computational burden. A novel method through uniting a single-layer LIDAR and the inertial measurement using a global navigation satellite system/inertial navigation system(GNSS/INS) was developed in this study to solve the problems mentioned above. A single-layer LIDAR scanning feedback plane was used to obtain the depth information

and then a quaternion attitude solution was used to obtain the point cloud image scanned by each station. When using the iterative closest point algorithm to achieve the point cloud registration between sites

the matching point cloud data was filtered and updated to improve the calculation efficiency.The experimental results show that the single-layer LIDAR and the GNSS/INS system can increase the computation rate by 76%

while preserving the digital characteristics of the point cloud. Therefore

the space reconstruction technique using the single-layer LIDAR and GNSS/INS has a similar high registration accuracy as the multi-layer LIDAR three-dimensional reconstruction system and effectively reduces the engineering cost.

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references

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