| 车载LiDAR扫描系统安置误差角检校 |
| |
| 引用本文： | 田祥瑞,徐立军,徐腾,李小路,张勤拓.车载LiDAR扫描系统安置误差角检校[J].红外与激光工程,2014,43(10):3292-3297. |
| |
| 作者姓名： | 田祥瑞 徐立军 徐腾 李小路 张勤拓 |
| |
| 作者单位： | 1.北京航空航天大学 仪器科学与光电工程学院 新型惯性仪表与导航系统技术国防重点学科实验室,北京 100191; |
| |
| 基金项目： | 国家973计划(2009CB724001)；国家自然科学基金(61201316，61121003)；高等学校博士学科点专项科研基金 |
| |
| 摘 要： | 车载激光雷达系统是集激光扫描仪(LS)、全球定位系统(GPS)和惯性导航系统(INS)等于一体的多传感器集成系统。激光雷达系统多传感器的时空对准是实现数据融合及高精度三维测量的保障,其中扫描系统安置误差角是影响激光测量点定位精度的主要因素之一。首先分析了车载激光雷达系统中的相关坐标系及坐标系之间的空间转换关系,提出了一种以带有竖直边沿的竖直墙面作为检校场,对LiDAR扫描系统与惯性导航系统之间的安置误差角进行检校的方法。通过构建的车载LiDAR系统安置误差角的检校对所提出的检校方法进行了实验验证。
|
| 关 键 词： | 系统检校 车载LiDAR 坐标转换 安置误差角 |
| 收稿时间： | 2014-02-21 |
Calibration of installation angles for mobile LiDAR scanner system |
| |
| Tian Xiangrui,Xu Lijun,Xu Teng,Li Xiaolu,Zhang Qintuo.Calibration of installation angles for mobile LiDAR scanner system[J].Infrared and Laser Engineering,2014,43(10):3292-3297. |
| |
| Authors: | Tian Xiangrui Xu Lijun Xu Teng Li Xiaolu Zhang Qintuo |
| |
| Affiliation: | 1.Key Laboratory of Fundamental Science for National Defense of Novel Inertial Instruments and Navigation System Technology,Beijing 100191,China;2.Key Laboratory of Precision Opto-mechatronics Technology of Ministry of Education,School of Instrument Science and Opto-electronic Engineering,Beihang University,Beijing 100191,China;3.Beijing Institute of Automatic Control Equipment,Beijing 100074,China |
| |
| Abstract: | Mobile LiDAR system is a multi-sensor integrated system, including laser scanner(LS), global positioning system(GPS), inertial navigation system(INS), and so on. Space registration is the key to get high precision 3D mapping. The installation angle error of LS is one of the main factors which influence the measurement accuracy. The related coordinate systems and transformations were introduced first. A method using vertical facade of a building wall to calibrate installation angles between LS and INS was proposed. A vehicle-borne LiDAR 3D mapping system was built to test the method. |
| |
| Keywords: | system calibration mobile LiDAR coordinate transformation installation angle error |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
| 点击此处可从《红外与激光工程》浏览原始摘要信息 |
|
点击此处可从《红外与激光工程》下载全文 |
|
