共查询到20条相似文献,搜索用时 156 毫秒
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阐述了分布式InSAR目标三维定位原理,分析了干涉基线与空间状态测量之间的关系;给出了干涉基线的完整定义,将干涉基线分解为空间域干涉基线和时间域干涉基线,其中时间域干涉基线通过主星的绝对定轨结果获得,空间域干涉基线主要通过高精度星间相对定位结果获得;分析了卫星轨道速度、平台姿态测量、天线安装等误差对干涉基线测量精度的影响,讨论了不同基线测量体制对姿态精度的要求差异,为分布式InSAR的空间状态测量方案设计及相关测量手段精度指标的论证提供了技术支撑。 相似文献
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蒋锐龚清勇朱岱寅朱兆达 《数据采集与处理》2017,32(2):375-381
多基线干涉合成孔径雷达(Interferometic synthetic aperture radar,InSAR)利用长短基线之间的关系,能够获得优于单基线InSAR的高程测量结果。本文针对多基线InSAR的数据特点,提出了基于信号子空间估计的多基线InSAR干涉相位图滤波方法。该方法将不同长度基线下所获得干涉相位图中同一像素单元信号作为一个训练样本,通过信号子空间的估计完成多基线InSAR干涉相位图滤波。仿真实验结果表明,本文方法可以在运算时间相当的情况下,获得优于回转均值滤波算法和回转中值滤波算法的滤波性能,是一种可满足实时处理要求的有效的多基线InSAR干涉相位图滤波方法。 相似文献
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随着空间及卫星定位技术的飞速发展,各种空间定位技术及应用也愈来愈多.本文简要介绍了甚长基线干涉测量(VLBI)技术、激光测月(LLR)技术、卫星激光测距(SLR)技术、卫星雷达测高技术、多普勒定轨和无线电定位系统(DORIS)、精密测距及其变率测量系统(PRARE),以及合成孔径雷达干涉测量(InSAR)等空间定位测量技术,重点阐述了GPS新技术及应用. 相似文献
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相干斑噪声是InSAR干涉图固有的,且InSAR干涉图对相干斑噪声十分敏感,为了得到精度更高的干涉测量产品,需要对干涉图进行相干斑噪声滤波。针对InSAR干涉图中相干斑噪声的统计特性,提出了一种基于小波域HMT模型的InSAR干涉图滤波算法,对InSAR干涉图的实部和虚部分别进行处理。试验研究结果表明,该方法在有效抑制相干斑的同时,还能有效地保持相位的细节信息和条纹的边缘结构,而且大大地减少了残余点的数量,有利于提高InSAR干涉测量的精度。 相似文献
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《Advanced Robotics》2013,27(3):273-294
In order to search and rescue victims in rubble effectively, a three-dimensional (3D) map of the rubble is required. As a part of the national project on rescue robot systems, we are investigating a method for constructing a 3D map of rubble by teleoperated mobile robots. In this paper, we developed a laser range finder for 3D map building in rubble. The developed range finder consists of a ring laser beam module and an omnivison camera. The ring laser beam is generated by using a conical mirror and it is radiated toward the interior wall of the rubble around a mobile robot on which the laser range finder is mounted. The ominivison camera with a hyperbolic mirror can capture the reflected image of the ring laser on the rubble. Based on the triangulation principle, cross-section range data is obtained. Continuing this measurement as the mobile robot moves inside the rubble, a 3D map is obtained. We constructed a geometric model of the laser range finder for error analysis and obtained an optimal dimension of the laser range finder. Based on this analysis, we actually prototyped a range finder. Experimental results show that the actual measurement errors are well matched to the theoretical values. Using the prototyped laser range finder, a 3D map of rubble was actually built with reasonable accuracy. 相似文献
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Jin Q. Cui Shupeng Lai Xiangxu Dong Ben M. Chen 《Journal of Intelligent and Robotic Systems》2016,84(1-4):259-276
This paper presents a navigation system that enables small-scale unmanned aerial vehicles to navigate autonomously using a 2D laser range finder in foliage environment without GPS. The navigation framework consists of real-time dual layer control, navigation state estimation and online path planning. In particular, the inner loop of a quadrotor is stabilized using a commercial autopilot while the outer loop control is implemented using robust perfect tracking. The navigation state estimation consists of real-time onboard motion estimation and trajectory smoothing using the GraphSLAM technique. The onboard real-time motion estimation is achieved by a Kalman filter, fusing the planar velocity measurement from matching the consecutive scans of a laser range finder and the acceleration measurement of an inertial measurement unit. The trajectory histories from the real-time autonomous navigation together with the observed features are fed into a sliding-window based pose-graph optimization framework. The online path planning module finds an obstacle-free trajectory based the local measurement of the laser range finder. The performance of the proposed navigation system is demonstrated successfully on the autonomous navigation of a small-scale UAV in foliage environment. 相似文献
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基于G语言开发环境,以激光测距传感器、功率计探头作为外部采集设备研制了一套用于地面散射特性分析的同步测试系统;该系统在实时同步采集辐射场功率信息与接收天线高度信息的基础上,给出地面散射影响程度,具有同步精度高、自动化快速测量等优点;为验证所研制的测试系统的可靠性,开展小尺度地面散射测试实验;实验表明,该系统获取的实验数据与理论计算数据基本一致。 相似文献
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设计并搭建了一种光谱共焦位移测量系统。利用高斯拟合算法拟合每组实验数据,获取光谱响应曲线峰值对应的光波长值,采用Levenberg-Marquardt算法优化求解高斯函数的参数向量;利用双频激光干涉仪对系统进行标定,获得光波长和反射镜位移之间的对应关系;对整个系统作精度分析。实验结果表明:高斯拟合算法适合作为该位移测量系统的数据处理方法;用双频激光干涉仪对系统标定的方法能够准确定位反射镜的位置。该设计系统的测量范围为20 mm,测量精度为10μm,能够满足一定精度的测量要求。 相似文献
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用于无人机室内导航的光流与地标融合方法 总被引:1,自引:0,他引:1
针对小型无人机在无卫星导航信号条件下的导航问题,结合光流及地标定位设计了使用摄像头、惯性测量器件、超声测距仪等传感器融合的无人机室内导航方法.文章使用补偿角速率的光流微分法计算帧间像素点小位移,并用前后误差算法提取精度较高的点,避免像素点跟踪错误,提高了光流测速的精度;对得到的光流场用均值漂移算法进行寻优,得到光流场直方图峰值,以此计算光流速度.本文提出了无累积误差的连续地标定位算法,实时测量无人机位置.通过多速率卡尔曼滤波器对观测周期不一致的位置、速度信息进行最优估计.在搭建的八旋翼无人机平台上试验,将位置与速度测量结果分别与激光和PX4FLOW数据对比,结果表明该导航方法可以有效抑制定位跳变与光流测量噪声误差,给出精确的位置与速度估计. 相似文献
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Masahiro Takatsuka Geoff A.W. West Svetha Venkatesh Terry M. Caelli 《Machine Vision and Applications》2003,14(3):139-144
This paper describes a new type of low-cost interactive active range finder and illustrates the effect of introducing interactivity
to the range-acquisition process. The new range finder consists of only one camera and a laser pointer to which three LEDs
are attached. When a user scans the laser, the camera captures the image of spots (one from the laser and the others from
LEDs), and triangulation is carried out using the camera's viewing direction and the optical axis of the laser. The user interaction
allows the range finder to acquire range data in which the sampling rate varies across the object depending on the underlying
surface structures. Moreover, the processes of separating objects from the background and/or finding parts in the object can
be achieved using the operator's knowledge of the objects.
Received: 24 August 1999 / Accepted: 26 May 2000 Published online: 18 June 2003
Correspondence to: M. Takatsuka (e-mail: masa@it.usyd.edu.au)
This project was funded by a grant from the Australian Research Council. 相似文献
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机载三维成像仪是集成了全球定位系统(GPS)、姿态测量装置、激光测距仪和光谱成像仪的
新一代航空遥感系统,它能直接得到地学编码影像(正射影像),而无需地面控制点。该系统利用图
像上分布的激光点来纠正原始图像,利用GPS的位置、姿态测量装置测出的姿态和激光测距值来
计算激光点在地面上的三维坐标是三维成像仪系统的关键之一。首先分析了机载三维成像仪获取
的数据结构,并将飞行数据按航带进行数据分解,然后详细给出了计算激光测距点位置的具体步
骤,最后通过算例说明了计算方法的正确性。 相似文献