LiDAR单机检校技术研究
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摘要
LiDAR( Light Detection and Ranging)技术是一种全新的获取地理信息数据的手段,具有普通的摄影测量无法比拟的优势。由于存在着LiDAR系统数据精度还无法满足成图要求、进口的大量LiDAR无法知道其是否达到出厂标称值、国内正在研发的LiDAR质量指标怎样确定是否过关等等需求,急需开展针对LiDAR的检校与标定的研究工作。本文以国内正在研发的LiDAR仪器为例,设计了针对该仪器的激光测距误差的确定以及纠正方法,并对该仪器锥扫角和扫描角的误差纠正方法进行了深入的分析,根据分析结果给出了其误差改正方法。本文主要的工作和创新点如下:
1.根据LiDAR系统的组成及其工作方式原理,详细推导了LiDAR系统的定位公式方程,把LiDAR系统误差与公式中的各参数进行结合分析讨论,给出了各项主要误差产生的原因及其对点云数据的影响方式。
2.对LiDAR测距误差进行了详细的分析,设计了一种简单可行的对激光测距误差的测定方法,并对误差结果进行总结分析讨论。提出了一种把测距误差分两步纠正的方法,第一步是针对回波强度不同引起的误差进行改正,方法是根据误差值与回波强度关系曲线图给出拟合公式,对误差进行拟合;第二步是针对固定的系统误差进行改正,基于对误差的理论经验与数据分析,给出拟合公式进行拟合。由误差改正前后效果对比可以看出该方法切实可行,效果明显。
3.分析了LiDAR仪器锥扫角产生的原因、对点云结果的影响方式,讨论了锥扫角与集成误差中俯仰角误差对点云结果影响方式的不同。提出了一种估计锥扫角误差大小的试验方法,该方法虽然不够完善,但是由实验结果可以看出对于估计锥扫角的大致范围还是有一定的效果,方法有待于进一步完善。
4.分析了扫描角误差产生的原因,给出了测定扫描角误差的方法。根据扫描角误差曲线的规律给出了拟合曲线方程,求出拟合参数。实验结果表明该方法切实可行,对扫描角误差纠正效果比较明显。
LiDAR (Light Detection and Ranging) technology is a freshly new mean to access GIS data, with great advantages which can not be matched by common photogrammetry. Since the accuracy of LiDAR system data can not meet the requirements of mapping, and the nominal value of a large number of LiDAR systems imported can not be known, domestic indicators are being developed for LiDAR in our country, and therefore, the calibration of LiDAR systems is needed to be researched greatly. In this paper, based on LiDAR instruments developed in our country, laser ranging error determination and calibration methods are designed, instrument cone scan angle and scan angle error correction methods are analyzed in-depth, and based on the analysis, error correction methods are given. In this paper, the work and innovations are as follows:
1. According to the composition and working principles of LiDAR system, positioning formulas for LiDAR system are derived in detail. Comparing with the formula parameters, LiDAR system errors are discussed. And then, the major causes of each error and its impacts on point cloud data are given,
2. LiDAR ranging error is analyzed in detail, a simple and feasible method for the determination of the laser ranging error is designed, and the error results are summarized and discussed. Then, a two-step ranging error calibration method is proposed. The first step is calibration of errors cased by different echo intensity. Based on error value and the relationships between echo intensity, curve fitting formulas are derived to fit the error. The second step is the calibration of fixed system errors. Based on theoretical experience and data analysis of errors, curve fitting formulas are given. Comparing the effect before and after error calibration, it can be seen that the method is quite feasible and effective.
3. In order to analyze the causes of LiDAR instrument cone scan angle and its impact on point clouds, differences between the impact of cone scan angle error and pitch angle error to point clouds are discussed. Moreover, a testing method to estimate the size of the cone scan error scan is proposed. Though it is not perfect, the method has a certain effect to estimate the general scope of cone scan angle from experimental results. And of course, the method has to be improved further.
4. The causes of scan angle error are analyzed, and methods to measure scan angle error are given. According to the law of scan angle error, curves are fitted and parameters are obtained, Experimental results show that the method is feasible and has obvious effects on error calibration.
1.根据LiDAR系统的组成及其工作方式原理,详细推导了LiDAR系统的定位公式方程,把LiDAR系统误差与公式中的各参数进行结合分析讨论,给出了各项主要误差产生的原因及其对点云数据的影响方式。
2.对LiDAR测距误差进行了详细的分析,设计了一种简单可行的对激光测距误差的测定方法,并对误差结果进行总结分析讨论。提出了一种把测距误差分两步纠正的方法,第一步是针对回波强度不同引起的误差进行改正,方法是根据误差值与回波强度关系曲线图给出拟合公式,对误差进行拟合;第二步是针对固定的系统误差进行改正,基于对误差的理论经验与数据分析,给出拟合公式进行拟合。由误差改正前后效果对比可以看出该方法切实可行,效果明显。
3.分析了LiDAR仪器锥扫角产生的原因、对点云结果的影响方式,讨论了锥扫角与集成误差中俯仰角误差对点云结果影响方式的不同。提出了一种估计锥扫角误差大小的试验方法,该方法虽然不够完善,但是由实验结果可以看出对于估计锥扫角的大致范围还是有一定的效果,方法有待于进一步完善。
4.分析了扫描角误差产生的原因,给出了测定扫描角误差的方法。根据扫描角误差曲线的规律给出了拟合曲线方程,求出拟合参数。实验结果表明该方法切实可行,对扫描角误差纠正效果比较明显。
LiDAR (Light Detection and Ranging) technology is a freshly new mean to access GIS data, with great advantages which can not be matched by common photogrammetry. Since the accuracy of LiDAR system data can not meet the requirements of mapping, and the nominal value of a large number of LiDAR systems imported can not be known, domestic indicators are being developed for LiDAR in our country, and therefore, the calibration of LiDAR systems is needed to be researched greatly. In this paper, based on LiDAR instruments developed in our country, laser ranging error determination and calibration methods are designed, instrument cone scan angle and scan angle error correction methods are analyzed in-depth, and based on the analysis, error correction methods are given. In this paper, the work and innovations are as follows:
1. According to the composition and working principles of LiDAR system, positioning formulas for LiDAR system are derived in detail. Comparing with the formula parameters, LiDAR system errors are discussed. And then, the major causes of each error and its impacts on point cloud data are given,
2. LiDAR ranging error is analyzed in detail, a simple and feasible method for the determination of the laser ranging error is designed, and the error results are summarized and discussed. Then, a two-step ranging error calibration method is proposed. The first step is calibration of errors cased by different echo intensity. Based on error value and the relationships between echo intensity, curve fitting formulas are derived to fit the error. The second step is the calibration of fixed system errors. Based on theoretical experience and data analysis of errors, curve fitting formulas are given. Comparing the effect before and after error calibration, it can be seen that the method is quite feasible and effective.
3. In order to analyze the causes of LiDAR instrument cone scan angle and its impact on point clouds, differences between the impact of cone scan angle error and pitch angle error to point clouds are discussed. Moreover, a testing method to estimate the size of the cone scan error scan is proposed. Though it is not perfect, the method has a certain effect to estimate the general scope of cone scan angle from experimental results. And of course, the method has to be improved further.
4. The causes of scan angle error are analyzed, and methods to measure scan angle error are given. According to the law of scan angle error, curves are fitted and parameters are obtained, Experimental results show that the method is feasible and has obvious effects on error calibration.
引文
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[2]刘经南,张小红.激光扫描测高技术的发展与现状[J].武汉大学学报-信息科学版,2:132-137,2003.
[3]胡以华,薛永棋.机载扫描激光测距精度的研究[J].量子电子学报,16(3):193-197,1999.
[4] A. F. Habib,A. P. Kersting,Z. Ruifang,M. Al-Durgham,C. Kim,D. C. Lee.LiDAR STRIP ADJUSTMENT USING CONJUGATE LINEAR FEATURES IN OVERLAPPING STRIPS[C] .The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences,35(b1):385-390,2008.
[5]刘春,陈华云,吴杭彬.激光三维遥感的数据处理与特征提取[M] .科学出版社,2009.
[6]赖旭东.机载激光雷达基础原理与应用[M] .电子工业出版社,2010.
[7]康志忠.数字城市中街道景观主体三维可视化的快速实现研究[D].武汉:武汉大学,2004.
[8]王刃.机载激光雷达数据滤波与建筑物提取技术研究[D].博士学位论文.解放军信息工程大学,2008.
[9]罗伊萍.机载LiDAR数据滤波及建筑物脚点提取技术研究[D].博士学位论文.解放军信息工程大学,2010.
[10]刘沛.多源数据辅助机载LiDAR数据处理的关键技术研究[D].硕士学位论文.中国测绘科学研究院,2008.
[11]吴芬芳.基于车载激光扫描数据的建筑物特征提取研究[D].硕士学位论文.武汉大学,2005.
[12]杨洋.基于车载LiDAR数据的建筑物立面重建技术研究[D].硕士学位论文.解放军信息工程大学,2010.
[13] A. Pothou,C. Toth,S. Karamitsos,A. Georgopoulos. AN APPROACH TO OPTIMIZE REFERENCE GROUND CONTROL REQUIREMENTS FOR ESTIMATING LiDAR/IMU BORESIGHT MISALIGNMENT[C] .The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences,35(b1):301-307,2008.
[14]寇松峰,陈钱,顾国华,徐伟.基于回波信号插值重建的峰值判别技术[J].红外与激光工程,第38卷第6期:991-994,2009.
[15]张春燕.提高脉冲激光测距的测程研究[D].硕士学位论文.南京理工大学,2008.
[16]卜弘毅,林盈侃,孟昭华等.基于超窄脉宽激光器的厘米级测距技术研究[J].激光与红外,第39卷第8期:880-883,2009.
[17]郑文科,方爱平.一种简便的地面激光扫描仪精度检测方法[J].中国计量-校准与测试,技术篇:83-84,2009.
[18]江月松.机载GPS、姿态和激光扫描测距集成定位系统的精确定位方程、误差分析与精度评估[J].遥感学报,5(4):241-247,2001.
[19]刘经南,张小红,,李征航.影响机载激光扫描测高精度的系统误差分析[J].武汉大学学报-信息科学版,27(2):111-117,2002.
[20]黄谟涛,翟国君,谢锡君等.多波束和机载激光测深位置归算及载体姿态影响研究[J].测绘学报,29(1):82-88,2000.
[21]刘丽萍,孙秀冬,赵远等.激光成像雷达扫描性能的检测精度[J].红外与激光工程, 37(6):1006-1009,2008.
[22]袁枫,张继贤,张力等.一种新的机载LiDAR数据条带平差模型[J].遥感信息-理论研究版:3-6,2010,5.
[23]王成,Menenti M,Stoll M P.机载激光雷达数据的误差分析及校正[J].遥感学报,11(3):390-396,2007.
[24]李洋,杨军,曹成哲.用于精密测量的激光测距技术研究[J].仪器仪表用户-研究报告:4-6,2009.
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