机载激光雷达系统标定方法

机载激光雷达系统投入测量工作前首先要标定激光雷达与导航系统的安装偏差参数。首先利用激光雷达反射强度信息确定和检测控制区，接着通过控制区平均获取对应的控制点，并根据控制点量测构造包含偏差参数和导航参数信息的激光矢量量测方程，然后利用广义最小二乘法对噪声进行白化操作，最后进最小方差准则下的内方位参数估计。实验结果表明，算法能够有效抑制导航系统误差造成的系统矩阵不精确，在量测噪声放大和放宽小角度假设条件下的偏差参数估计优于传统方法。满足机载激光雷达系统标定对精度和鲁棒性的要求。

Calibration technology of airborne lidar

Calibration of interior origination element biases between laser scanner and navigation system is essential for Lidar before survey applications. First, control areas are detected and ascertained through laser intensity map. Then the control points are calculated with laser footprint measurements average within control area. Equations include biases and navigation parameters based on control points are set up for optimal estimation. The General Least Squares method with white technology is adopted to handle coupling measurement noise covariance and give optimal estimation of biases under least squares principle. Experiment results shows this algorithm can restrain imprecise coefficient matrix error cause by navigation system. With assumption that relax small angle and measurement noise increased, algorithm is superior to traditional method in general. This confirms algorithm satisfy the calibration requirement with both precision and robust.