轻小型无人机载激光雷达系统研制及电力巡线应用
|
摘要
基于无人机载平台的轻小型激光雷达系统是当今研究的热点,该系统具有价格低廉、方便携带和使用灵活的特点,近年来发展十分迅速。针对轻小型无人机载激光雷达系统研制所涉及的时间同步与结构集成设计、安置角误差消除等开展研究,提出了一种适用于复杂地形工况环境下的轻小型无人机载激光雷达数据采集与处理分析的完整解决方案,并利用集成后的系统开展了电力巡线巡检应用,试验数据分析结果充分展示了该系统在电力巡线上的优势,验证了其功能与性能。
Mini UVA borne LiDAR system is a research hotspot nowadays,It has the characteristics of low cost,easy to carry and flexible to use,and has developed rapidly in recent years.This paper proposes a complete solution of the data acquisition and processing analysis by mini-UAV-borne LiDAR system,which mounted on a multi-rotor unmanned aerial vehicle.Aiming at the time synchronization and structure integration design and settling angle error elimination involved in the development of mini UAV-borne lidar system,a complete solution for data acquisition and processing analysis of light and mini UAV-borne lidar under complex terrain conditions is proposed.The integrated system is used to carry out power line patrol application,and the number of tests are carried out.According to the analysis results,the advantages of the system in power line inspection are fully demonstrated,and its functions and performances are verified.
Mini UVA borne LiDAR system is a research hotspot nowadays,It has the characteristics of low cost,easy to carry and flexible to use,and has developed rapidly in recent years.This paper proposes a complete solution of the data acquisition and processing analysis by mini-UAV-borne LiDAR system,which mounted on a multi-rotor unmanned aerial vehicle.Aiming at the time synchronization and structure integration design and settling angle error elimination involved in the development of mini UAV-borne lidar system,a complete solution for data acquisition and processing analysis of light and mini UAV-borne lidar under complex terrain conditions is proposed.The integrated system is used to carry out power line patrol application,and the number of tests are carried out.According to the analysis results,the advantages of the system in power line inspection are fully demonstrated,and its functions and performances are verified.
引文
[1] Li Z R,Liu Y E,Walker R,et al.Towards Automatic Power Line Detection for a UAV Surveillance System Using Pulse Coupled Neural Filter and an Improved Hough Transform[J].Machine Vision Applications,2010,21(5):677-686.
[2] Cai J H,Walker R A.Height Estimation from Monocular Image Sequences Using Dynamic Programming with Explicit Occlusions[J].Iet Computer Vision,2010,4(3):149-161.
[3] Delcerro J M,Aguirre I,Barrientos.Development of a Low Cost Autonomous Minihelicopter for Power Lines Inspections[C]//Proc.2001,SPIE 4195(Mobile Robots XV and Telemanipulator and Telepresence Technologies Ⅶ).
[4] Lin Y,Hyypp?,Juha,Jaakkola A.Mini-UAV-Borne LIDAR for Fine-Scale Mapping[J].IEEE Geoscience & Remote Sensing Letters,2011,8(3):426-430.
[5] Nagai M,Chen T E,Shibasaki R,et al.UAV-Borne 3-D Mapping System by Multisensor Integration[J].IEEE Transactions on Geoscience and Remote Sensing,2009,47(3):701-708.
[6] Zhao X G,Jing L,Min T.A Remote Aerial Robot for Topographic Survey[C]//IEEE/RSJ International Conference on Intelligent Robots & Systems.IEEE,2006.
[7] Geske J.Miniature Laser Range Finders and Laser Altimeters.In Proc.2008 IEEE Conf.Avionics Fiber-Opt.Photo.Technol,53-54.
[8] Colomina I,Molina P.Unmanned Aerial Systems for Photogrammetry and Remote Sensing:A Review[J].ISPRS Journal of Photogrammetry and Remote Sensing,2014:79-97.
[9] Liu Jianjun,Huang Huaping,Miao Zhixiu,et al.Discussion on Airborne LiDAR System Boresight Self-Calibration[J].Surveying and Mapping,2012,35(2):74-77.[刘建军,黄华平,缪志修,等.机载LiDAR系统Boresight自检校方法探讨[J].测绘,2012,35(2):74-77.]
[10] Wang Heping,Xia Shaobo,Tan Hongwu,et al.Key Technologies of Airborne Laser Point Cloud Data Processing in Power Line Inspection[J].Geospatial Information,2015(5):59-62.[王和平,夏少波,谭弘武,等.电力巡线中机载激光点云数据处理的关键技术[J].地理空间信息,2015(5):59-62.]
[11] Nie S,Wang C,Dong P L,et al.A Revised Progressive TIN Densification for Filtering Airborne LiDAR Data[J].Measurement,2017,104:70-77.
[12] Wang Pinghua,Xi Xiaohuan,Wang Cheng,et al.Study on Power Line Fast Extraction based on Airborne LiDAR Data[J].Science of Surveying and Mappin,2017,42(2):154-158.[王平华,习晓环,王成,等.机载激光雷达数据中电力线的快速提取[J].测绘科学,2017,42(2):154-158.]
[13] Han Wenjun,Xiao Xue.Power Tower Modeling with Airborne LiDAR Data[J].Yangtze River,2012,43(8):22-25.[韩文军,肖雪.基于机载LiDAR数据的输电铁塔建模方法研究[J].人民长江,2012,43(8):22-25.]
[14] Li Liang,Wang Cheng,Li Shihua,et al.Building Roof Point Extraction based on Airborne LiDAR Data[J].Journal of University of Chinese Academy of Sciences,2016,33(4):537-541.[李亮,王成,李世华,等.基于机载LiDAR数据的建筑屋顶点云提取方法[J].中国科学院大学学报,2016,33(4):537-541.]
[15] He Rui,He Meizhang,Du Zhiqiang,et al.Automatic Montane Road Extraction from Airborne LiDAR Data[J].Geomatics World,2015,22(6):116-121.[何锐,何美章,杜志强,等.基于机载激光点云数据的山区道路提取[J].地理信息世界,2015,22(6):116-121.]
[16] Zhang Geng.Power-line Safe Distance Detection based on Airborne LiDAR Data[D].Lanzhou:Lanzhou Jiaotong University,2015.[张赓.基于机载LiDAR点云数据的电力线安全距离检测[D].兰州:兰州交通大学,2015.]
[2] Cai J H,Walker R A.Height Estimation from Monocular Image Sequences Using Dynamic Programming with Explicit Occlusions[J].Iet Computer Vision,2010,4(3):149-161.
[3] Delcerro J M,Aguirre I,Barrientos.Development of a Low Cost Autonomous Minihelicopter for Power Lines Inspections[C]//Proc.2001,SPIE 4195(Mobile Robots XV and Telemanipulator and Telepresence Technologies Ⅶ).
[4] Lin Y,Hyypp?,Juha,Jaakkola A.Mini-UAV-Borne LIDAR for Fine-Scale Mapping[J].IEEE Geoscience & Remote Sensing Letters,2011,8(3):426-430.
[5] Nagai M,Chen T E,Shibasaki R,et al.UAV-Borne 3-D Mapping System by Multisensor Integration[J].IEEE Transactions on Geoscience and Remote Sensing,2009,47(3):701-708.
[6] Zhao X G,Jing L,Min T.A Remote Aerial Robot for Topographic Survey[C]//IEEE/RSJ International Conference on Intelligent Robots & Systems.IEEE,2006.
[7] Geske J.Miniature Laser Range Finders and Laser Altimeters.In Proc.2008 IEEE Conf.Avionics Fiber-Opt.Photo.Technol,53-54.
[8] Colomina I,Molina P.Unmanned Aerial Systems for Photogrammetry and Remote Sensing:A Review[J].ISPRS Journal of Photogrammetry and Remote Sensing,2014:79-97.
[9] Liu Jianjun,Huang Huaping,Miao Zhixiu,et al.Discussion on Airborne LiDAR System Boresight Self-Calibration[J].Surveying and Mapping,2012,35(2):74-77.[刘建军,黄华平,缪志修,等.机载LiDAR系统Boresight自检校方法探讨[J].测绘,2012,35(2):74-77.]
[10] Wang Heping,Xia Shaobo,Tan Hongwu,et al.Key Technologies of Airborne Laser Point Cloud Data Processing in Power Line Inspection[J].Geospatial Information,2015(5):59-62.[王和平,夏少波,谭弘武,等.电力巡线中机载激光点云数据处理的关键技术[J].地理空间信息,2015(5):59-62.]
[11] Nie S,Wang C,Dong P L,et al.A Revised Progressive TIN Densification for Filtering Airborne LiDAR Data[J].Measurement,2017,104:70-77.
[12] Wang Pinghua,Xi Xiaohuan,Wang Cheng,et al.Study on Power Line Fast Extraction based on Airborne LiDAR Data[J].Science of Surveying and Mappin,2017,42(2):154-158.[王平华,习晓环,王成,等.机载激光雷达数据中电力线的快速提取[J].测绘科学,2017,42(2):154-158.]
[13] Han Wenjun,Xiao Xue.Power Tower Modeling with Airborne LiDAR Data[J].Yangtze River,2012,43(8):22-25.[韩文军,肖雪.基于机载LiDAR数据的输电铁塔建模方法研究[J].人民长江,2012,43(8):22-25.]
[14] Li Liang,Wang Cheng,Li Shihua,et al.Building Roof Point Extraction based on Airborne LiDAR Data[J].Journal of University of Chinese Academy of Sciences,2016,33(4):537-541.[李亮,王成,李世华,等.基于机载LiDAR数据的建筑屋顶点云提取方法[J].中国科学院大学学报,2016,33(4):537-541.]
[15] He Rui,He Meizhang,Du Zhiqiang,et al.Automatic Montane Road Extraction from Airborne LiDAR Data[J].Geomatics World,2015,22(6):116-121.[何锐,何美章,杜志强,等.基于机载激光点云数据的山区道路提取[J].地理信息世界,2015,22(6):116-121.]
[16] Zhang Geng.Power-line Safe Distance Detection based on Airborne LiDAR Data[D].Lanzhou:Lanzhou Jiaotong University,2015.[张赓.基于机载LiDAR点云数据的电力线安全距离检测[D].兰州:兰州交通大学,2015.]