基于激光雷达技术的移动目标定位系统
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摘要
传统系统对移动目标进行定位时,未考虑GPS易受天气和位置干扰的缺陷,导致定位结果具有一定的误差,为此设计了基于激光雷达技术的移动目标定位系统,系统硬件由标签模块、CAN网络模块和激光雷达模块等构成,采用激光雷达模块实现激光雷达信号的采集、测量以及传输;系统软件在激光雷达模块中设计构建激光雷达测量模型,通过该模型测量移动目标位置信息后,采用扩展卡尔曼滤波算法对移动目标进行运动预测与位置修正完成准确定位。实验结果表明,所设计系统可有效定位移动目标,且经过多次实验,定位耗时最大值仅为11 ms、定位误差率最大值为0. 12、定位功能稳定性高达99. 99%、灵活性高达97%,具有耗时短、误差小以及稳定性与灵活性高的优势。
When using inertial global psitioning system( GPS) combined navigation and positioning system to locate moving targets,GPS's vulnerability to weather and position interferences were not considered,resulting in certain errors in positioning results. A mobile target positioning system based on lidar technology is designed. The system hardware consists of a label module,CAN network module,and a lidar module. The lidar module is used to achieve the collection,measurement,and transmission of lidar signals. The system software designs and constructs a lidar measurement model in the lidar module. After measuring the moving target position information through the model,the extended Kalman filter algorithm is used to predict the moving target and correct the position to accurately locate it. The experimental results show that the designed system can effectively locate moving targets. After many experiments,the maximum positioning time is only 11 ms,the maximum positioning error rate is 0. 12,the positioning function stability is as high as 99. 99%,and the flexibility is as high as 97%. It has the advantages of short time,small error,high stability and flexibility.
When using inertial global psitioning system( GPS) combined navigation and positioning system to locate moving targets,GPS's vulnerability to weather and position interferences were not considered,resulting in certain errors in positioning results. A mobile target positioning system based on lidar technology is designed. The system hardware consists of a label module,CAN network module,and a lidar module. The lidar module is used to achieve the collection,measurement,and transmission of lidar signals. The system software designs and constructs a lidar measurement model in the lidar module. After measuring the moving target position information through the model,the extended Kalman filter algorithm is used to predict the moving target and correct the position to accurately locate it. The experimental results show that the designed system can effectively locate moving targets. After many experiments,the maximum positioning time is only 11 ms,the maximum positioning error rate is 0. 12,the positioning function stability is as high as 99. 99%,and the flexibility is as high as 97%. It has the advantages of short time,small error,high stability and flexibility.
引文
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[3]刘娇月,杨聚庆,董登峰,等.激光跟踪仪的光电瞄准与定位系统[J].光学精密工程,2015,23(6):1558-1564.
[4]陈和,杨志浩,郭磐,等.激光光斑中心高精度定位算法研究[J].北京理工大学学报,2016,36(2):181-185.
[5]刘琨,冯博文,刘铁根,等.基于光频域反射技术的光纤连续分布式定位应变传感[J].中国激光,2015,42(5):179-185.
[6]李增元,刘清旺,庞勇.激光雷达森林参数反演研究进展[J].遥感学报,2016,20(5):1138-1150.
[7]刘常杰,刘洪伟,郭寅,等.基于扫描激光雷达的列车速度测量系统[J].红外与激光工程,2015,44(1):285-290.
[8]彭尧,张景旭,杨飞,等.基于主动光学的大口径反射镜硬点定位技术[J].激光与红外,2016(2):139-144.
[9] MARTNEZ-Rubio A,SANZ-Adan F,SANTAMARAPe? a J,et al. Evaluating solar irradiance over facades in high building cities,based on Li DAR technology[J]. Applied Energy,2016,183:133-147.
[10]张小鸣,王燕萍.相位式激光测距系统优化设计及仿真[J].计算机仿真,2016,33(2):41-46.
[11]曾勉,龚晨,徐正元.一种基于RSS的改进的可见光定位系统[J].中国科学技术大学学报,2017,47(2):188-194.
[12] LUO Y,HE Y,GENG L,et al.Long-Distance Laser Ranging Lidar Based on Photon Counting Technology[J]. Chinese Journal of Lasers,2016,43(5):0514001.
[13]张邦凤.果树快速定位采摘机器人设计-基于红外和激光扫描技术[J].农机化研究,2017,39(6):233-237.
[14]钱晓明,张浩,王晓勇,等.基于激光扫描匹配的移动机器人相对定位技术研究[J].农业机械学报,2016,47(3):14-21.
[15]张波,王斐,毛景雯,等.激光定位技术在骨科手术中的运用及研究进展[J].实用医学杂志,2015,31(10):1716-1718.
[16]张飙,周国清,周祥,等.激光雷达多路距离测量系统设计[J].激光技术,2016,40(4):576-581.
[17]段建民,郑凯华,李龙杰,等.基于多层激光雷达的道路信息提取算法[J].控制工程,2016,23(4):468-473.
[18]孙明国,高鹏骐,沈鸣,等.空间目标的激光和光学两种观测技术联合定位[J].激光与光电子学进展,2015,52(7):112-117.