机载激光雷达测深系统定位模型与视准轴误差影响分析
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摘要
根据机载激光测深系统扫描部分结构,针对圆镜偏轴卵形扫描方式,从光束发射方向出发,基于扫描结构轴向关系利用光线反射定律推导出激光出射方向向量,结合激光出射位置到海表点距离获得海面激光点坐标;依据光线折射定律,利用变折射率光线追踪算法推导出海底测深点坐标计算公式,建立海面激光入射点及海底测深点坐标严密计算模型。根据模型定位公式,分析扫描系统视准轴误差影响,通过数值模拟,分析扫描系统视准轴误差对定位精度影响,为扫描系统单体设备加工、装调、集成检校提供依据,为机载雷达测深系统提供海底测点精确计算、改正提供参考。
Consistent with the scanning structure of airborne laser bathymetry system, aiming at the oval scanning mode of circular mirror skew axis, starting from the beam emission direction and on basis of the axial relation of scanning structure, the laser output direction vector was derived by the law of light reflection. The coordinates of laser points on the sea surface were obtained by combining the distance from the laser output location to the sea surface point. According to the law of light refraction, the coordinate calculation formula of submarine bathymetric point was derived by using the variable refractive index ray tracing algorithm, and the precise calculation model of laser incident point and submarine bathymetry point coordinate was established. According to the model positioning formula, the influence of scanning system boresight error was analyzed. Through numerical simulation, the influence of scanning boresight misalignment calibration on positioning accuracy was analyzed, which provided the basis for the processing, installation, adjustment and the integrated checking of unit device in the scanning system. The positioning formula can provide reference for accurate calculation and correction of submarine points for airborne lidar bathymetry system.
Consistent with the scanning structure of airborne laser bathymetry system, aiming at the oval scanning mode of circular mirror skew axis, starting from the beam emission direction and on basis of the axial relation of scanning structure, the laser output direction vector was derived by the law of light reflection. The coordinates of laser points on the sea surface were obtained by combining the distance from the laser output location to the sea surface point. According to the law of light refraction, the coordinate calculation formula of submarine bathymetric point was derived by using the variable refractive index ray tracing algorithm, and the precise calculation model of laser incident point and submarine bathymetry point coordinate was established. According to the model positioning formula, the influence of scanning system boresight error was analyzed. Through numerical simulation, the influence of scanning boresight misalignment calibration on positioning accuracy was analyzed, which provided the basis for the processing, installation, adjustment and the integrated checking of unit device in the scanning system. The positioning formula can provide reference for accurate calculation and correction of submarine points for airborne lidar bathymetry system.
引文
[1] Liu Yanxiong, Guo Kai, He Xiufeng, et al. Research progress of airborne laser bathymetry technology[J].Geomatics and Information Science of Wuhan University, 2017, 42(9):1185-1194.(in Chinese)
[2] Zhai Guojun, Wu Taiqi, Ouyang Yongzhong, et al. The development of airborne laser bathymetry[J].Hydrographic Surveying and Charting, 2012, 32(2):67-71.(in Chinese)
[3] Zhai Guojun, Wang Keping, Liu Yuhong. Technology of airborne laser bathymetry[J]. Hydrographic Surveying and Charting, 2014, 34(2):72-75.(in Chinese)
[4] Yao Chunhua, Chen Weibiao, Zang Huaguo, et al.Accurate measurement of sea surface in an airborne laser bathymetry[J]. Infrared and Laser Engineering,2003, 32(4):351-355.(in Chinese)
[5] Quadros N D. Unlocking the characteristics of bathymetric LiDAR sensors[J]. Lidar Magazine, 2013,3:4-5.
[6] Dai Yongjiang. Laser Radar Technology[M]. Beijing:Electronic Industry Press, 2010.(in Chinese)
[7] Peng Lin, Liu Yanxiong, Deng Cailong, et al.Experiment of airborne laser bathymetry[J].Hydrographic Surveying and Charting, 2014, 34(4):35-37.(in Chinese)
[8] Ye Xiusong. Research on principle data processing methods of airborne laser bathymetric technique[D].Zhengzhou:PLA University of Information Engineering, 2010.(in Chinese)
[9] Li Qinghui, Chen Liangyi. Airborne blue-green laser ocean sounding[J]. Acta Photonica Sinica, 1996, 25(11):1008-1015.(in Chinese)
[10] He Yan, Tian Maoyi, Lv Deliang, et al. Airborne dualfrequency lidar system parameter design and performance analysis[C]//Seminar on Infrared and Remote Sensing Technology and Applications and Interdisciplinary Forum, 2015.(in Chinese)
[11] Ren Laiping, Zhao Junsheng, Zhai Guojun, et al.Calculating and analyzing the scanning trajectory of airborne laser sounding sea surface[J]. Geomatics and Information Science of Wuhan University, 2002, 27(2):138-142.(in Chinese)
[12] Ye Xiusong, Wang Gengfeng, Huang Motao, et al. Laser footprint distribution of laser airborne depth mapping system from surface and bottom of sea[J]. Journal of Geomatics Science and Technology, 2010, 27(2):88-91.(in Chinese)
[13] Li Kai, Zhang Yongsheng, Tong Xiaochong, et al.Positioning model and accuracy evaluation of conical scanning airborne laser bathymetry system[J]. Acta Geodaetica et Cartographica Sinica, 2016, 45(4):425-433.(in Chinese)
[14] Ouyang Yongzhong, Huang Motao, Zhai Guojun, et al.On the depth reduction in airborne laser hydrograph[J].Hydrographic Surveying and Charting, 2003, 23(1):1-5.(in Chinese)
[15] Shen Erhua, Zhang Yongsheng, Li Kai. The calibration model and simulation analysis of circular scnning airborne laser bathymetry system[J]. Acta Geod Cartogr Sin, 2016, 45(8):943-951.(in Chinese)
[16] Shen Erhua, Zhang Yongsheng, Li Kai. Positioning model and simulation of conical scanning airborne laser bathymetry system[J]. Chinese Journal of Lasers, 201643(2):0214001.(in Chinese)
[17] Gonsalves M O. A comprehensive uncertainty analysis and method of geometric calibration for a circular scanning airborne lidar[D]. Hattiesburg:The University of Southern Mississippi, 2010.
[18] Latypov D. Effects of laser beam alignment tolerance on lidar accuracy[J]. ISPRS Journal of Photogrammetry&Remote Sensing, 2005, 59(6):361-368.
[19] Liu Jiyu, Li Song. Application on error sources surveying sea_water depths with an airborne laser sounding system[J]. Geomatics and Information Science of Wuhan University, 2000, 25(6):491-495.(in Chinese)
[20] Ye Xiusong, Zhang Chuanding, Wang Aibing, et al.Analysis of the airborne laser scanning bathymetry errors[J]. Journal of Geomatics Science and Technology, 2008, 25(6):400-402.(in Chinese)
[21] Lu Xiuping, Bian Shaofeng, Ye Xiusong, et al. Near real-time tidevariation inversion based on the double difference kinematic positioning[J]. Hydrographic Surveying and Charting, 2011, 31(2):1-3.(in Chinese)
[22] Yang Mengmeng, Wan Youchuan, Xu Jingzhong.Research of error analysis and positioning accuracy with four-prism of laser scanning[J]. Chinese Journal of Lasers, 2015, 42(9):0914001.(in Chinese)
[23] Wang Jianjun, Liu Jidong. Analysis and sorting of impacts of measurement errors on positioning accuracy of laser point cloud obtained from airborne laser scanning[J]. Chinese Journal of Lasers, 2014(4):239-244.(in Chinese)
[24] Hu Jianwei, Ma Hongchao. Error analysis on laser beam misalignment with scanner mirror of airborne LIDAR[J]. Infrared and Laser Engineering, 2008, 37(2):243-246.(in Chinese)
[25] Jiang Yuesong. A rigorous positioning equation and it′s error analysis and precision evaluation for integrated positioning system of airborne GPS, INS and laser scanning ranging[J]. Journal of Remote Sensing, 2001,5(4):241-247.(in Chinese)
[26] Huang Motao, Zhai Guojun. The influence of carrier′s attitude and the position reduction in multibeam echosounding and airborne laser depth sounding[J].Acta Geodaetica et Cartographica Sinica, 2000, 29(1):82-88.(in Chinese)
[27] Wei Bingxin. Solving trajectory of reflected light by matrix[J]. Firepower and Command Control, 1978(4):55-69.(in Chinese)
[28] Huang Zhanhua, Cheng Hongfei, Cai Huaiyu, et al. A study on universal ray tracing algorithm in the medium of variable refractive index[J]. Acta Optica Sinica,2005, 25(5):589-592.(in Chinese)
[2] Zhai Guojun, Wu Taiqi, Ouyang Yongzhong, et al. The development of airborne laser bathymetry[J].Hydrographic Surveying and Charting, 2012, 32(2):67-71.(in Chinese)
[3] Zhai Guojun, Wang Keping, Liu Yuhong. Technology of airborne laser bathymetry[J]. Hydrographic Surveying and Charting, 2014, 34(2):72-75.(in Chinese)
[4] Yao Chunhua, Chen Weibiao, Zang Huaguo, et al.Accurate measurement of sea surface in an airborne laser bathymetry[J]. Infrared and Laser Engineering,2003, 32(4):351-355.(in Chinese)
[5] Quadros N D. Unlocking the characteristics of bathymetric LiDAR sensors[J]. Lidar Magazine, 2013,3:4-5.
[6] Dai Yongjiang. Laser Radar Technology[M]. Beijing:Electronic Industry Press, 2010.(in Chinese)
[7] Peng Lin, Liu Yanxiong, Deng Cailong, et al.Experiment of airborne laser bathymetry[J].Hydrographic Surveying and Charting, 2014, 34(4):35-37.(in Chinese)
[8] Ye Xiusong. Research on principle data processing methods of airborne laser bathymetric technique[D].Zhengzhou:PLA University of Information Engineering, 2010.(in Chinese)
[9] Li Qinghui, Chen Liangyi. Airborne blue-green laser ocean sounding[J]. Acta Photonica Sinica, 1996, 25(11):1008-1015.(in Chinese)
[10] He Yan, Tian Maoyi, Lv Deliang, et al. Airborne dualfrequency lidar system parameter design and performance analysis[C]//Seminar on Infrared and Remote Sensing Technology and Applications and Interdisciplinary Forum, 2015.(in Chinese)
[11] Ren Laiping, Zhao Junsheng, Zhai Guojun, et al.Calculating and analyzing the scanning trajectory of airborne laser sounding sea surface[J]. Geomatics and Information Science of Wuhan University, 2002, 27(2):138-142.(in Chinese)
[12] Ye Xiusong, Wang Gengfeng, Huang Motao, et al. Laser footprint distribution of laser airborne depth mapping system from surface and bottom of sea[J]. Journal of Geomatics Science and Technology, 2010, 27(2):88-91.(in Chinese)
[13] Li Kai, Zhang Yongsheng, Tong Xiaochong, et al.Positioning model and accuracy evaluation of conical scanning airborne laser bathymetry system[J]. Acta Geodaetica et Cartographica Sinica, 2016, 45(4):425-433.(in Chinese)
[14] Ouyang Yongzhong, Huang Motao, Zhai Guojun, et al.On the depth reduction in airborne laser hydrograph[J].Hydrographic Surveying and Charting, 2003, 23(1):1-5.(in Chinese)
[15] Shen Erhua, Zhang Yongsheng, Li Kai. The calibration model and simulation analysis of circular scnning airborne laser bathymetry system[J]. Acta Geod Cartogr Sin, 2016, 45(8):943-951.(in Chinese)
[16] Shen Erhua, Zhang Yongsheng, Li Kai. Positioning model and simulation of conical scanning airborne laser bathymetry system[J]. Chinese Journal of Lasers, 201643(2):0214001.(in Chinese)
[17] Gonsalves M O. A comprehensive uncertainty analysis and method of geometric calibration for a circular scanning airborne lidar[D]. Hattiesburg:The University of Southern Mississippi, 2010.
[18] Latypov D. Effects of laser beam alignment tolerance on lidar accuracy[J]. ISPRS Journal of Photogrammetry&Remote Sensing, 2005, 59(6):361-368.
[19] Liu Jiyu, Li Song. Application on error sources surveying sea_water depths with an airborne laser sounding system[J]. Geomatics and Information Science of Wuhan University, 2000, 25(6):491-495.(in Chinese)
[20] Ye Xiusong, Zhang Chuanding, Wang Aibing, et al.Analysis of the airborne laser scanning bathymetry errors[J]. Journal of Geomatics Science and Technology, 2008, 25(6):400-402.(in Chinese)
[21] Lu Xiuping, Bian Shaofeng, Ye Xiusong, et al. Near real-time tidevariation inversion based on the double difference kinematic positioning[J]. Hydrographic Surveying and Charting, 2011, 31(2):1-3.(in Chinese)
[22] Yang Mengmeng, Wan Youchuan, Xu Jingzhong.Research of error analysis and positioning accuracy with four-prism of laser scanning[J]. Chinese Journal of Lasers, 2015, 42(9):0914001.(in Chinese)
[23] Wang Jianjun, Liu Jidong. Analysis and sorting of impacts of measurement errors on positioning accuracy of laser point cloud obtained from airborne laser scanning[J]. Chinese Journal of Lasers, 2014(4):239-244.(in Chinese)
[24] Hu Jianwei, Ma Hongchao. Error analysis on laser beam misalignment with scanner mirror of airborne LIDAR[J]. Infrared and Laser Engineering, 2008, 37(2):243-246.(in Chinese)
[25] Jiang Yuesong. A rigorous positioning equation and it′s error analysis and precision evaluation for integrated positioning system of airborne GPS, INS and laser scanning ranging[J]. Journal of Remote Sensing, 2001,5(4):241-247.(in Chinese)
[26] Huang Motao, Zhai Guojun. The influence of carrier′s attitude and the position reduction in multibeam echosounding and airborne laser depth sounding[J].Acta Geodaetica et Cartographica Sinica, 2000, 29(1):82-88.(in Chinese)
[27] Wei Bingxin. Solving trajectory of reflected light by matrix[J]. Firepower and Command Control, 1978(4):55-69.(in Chinese)
[28] Huang Zhanhua, Cheng Hongfei, Cai Huaiyu, et al. A study on universal ray tracing algorithm in the medium of variable refractive index[J]. Acta Optica Sinica,2005, 25(5):589-592.(in Chinese)