激光雷达与被动红外复合成像光学系统

凝视焦平面成像已成为被动红外成像的主要研究和应用方向，而激光成像雷达又是比被动红外具有更高分辨率、且能成三维像的更前沿的成像技术，两种体制复合将有利于目标的跟踪、识别和定位．为此，世界上许多国家都在研究这一双模复合体制．在激光雷达和被动红外复合中，光学天线的选择和设计是一项关键技术．     

多普勒成象CO_2激光雷达

本文描述的多普勒成象连续波(CW)CO_2激光雷达系统,用激光束扫描景物,相干探测散射辐射和测量存在的多普勒频移来产生速度图象。文中给出了得到的图象实例,并指出其应用潜力。     

脉冲相干激光雷达对运动目标成像模拟

针对运动目标，在考虑激光雷达方程、信噪比和自动增益、成像指标、噪声、图像处理等模块的基础上，对脉冲相干成像激光雷达进行了运动目标的成像模拟。     

一个输电线系统净空排查算法的优化过程

针对激光雷达扫描得到的输电线路三维点云数据,在对象分类的基础上,设计一个全自动的净空排查算法,以确定输电线路与周围地物是否有过于接近的情况。由于净空排查的基本算法相当耗时,故采用了包围盒、循环调整、降维、多分辨率、并行运算等措施,对基本算法作了7级优化,使算法速度提高超过20 000倍,最终达到亚秒级的耗时。     

An algorithm and observability research of autonomous navigation and joint attitude determination in asteroid exploration descent stage

In this paper, an autonomous relative navigation and joint attitude determination algorithm in asteroid exploration descent stage is researched based on feature point information of perpendicular asteroid surface image observed by optical navigation camera, distance vectors from spacecraft to asteroid measured by three angled installed lidars and relative velocity increment measured by accelerometer when the relative distance vector to the centroid of asteroid can not be obtained. The inertial attitude of spacecraft is determined by sun vector, star vectors and inertial angular velocity respectively measured by sun sensor, star trackers and inertial reference unit. Also, in order to obtain measurement error model transferred from sensor noise, a covariance matrix solver considering error correlation is presented via the error model of normalized vector to first order. Numerical simulation and improved observability evaluation of filtering are undertaken to discuss the results of complete sensor observation and weak observation of lidars, and verify the effectiveness of the presented relative navigation and attitude determination algorithm.     

基于机载点云的电力线提取方法研究

为了提高电力线走廊巡检的有效性,提出一种基于机载点云的电力线提取方法。首先利用渐进三角网滤波剔除地面点,并计算距地高差,得到含电力线点集,为了克服传统二维密度分割方法无法有效识别电力线下方存在地物点的不足,通过三维格网划分密度分割方法,实现电力线点粗提取;然后通过 ＲＡＮＳＡＣ方法直线检测与点云高差并判断剔除残留电塔点与绝缘子点,实现电力线点云精提取;此外,借助 ＲＡＮＳＡＣ方法曲线检测对同一垂直面上的电力线分股,最后利用 Ｋ-Ｍｅａｎｓ算法完成分裂导线束间归类。实验表明,该电力线点云提取方法正确率达 97％以上,非电力线点云误判率低至 1％左右,完全满足实际工程需求。