机载激光雷达作业流程中的质量控制方法研究
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摘要
机载激光雷达是集激光扫描仪、全球定位系统和惯性导航系统三种技术于一体的空间测量系统,通常也被称为机载激光扫描或机载激光测高。机载激光雷达系统与其他遥感技术相比较具有自动化程度高,受天气影响小,数据生成周期短,精度高的技术特点。
论文在中国科学院光电研究院重点创新性项目“机载三维成像激光雷达系统技术研究”的支持下开展进行工作,在完成分析、研究机载LiDAR作业流程和数据处理流程的基础上,提出了针对各环节中与数据质量相关的解决方案,主要的研究成果有以下几个方面:
(1)基于对研究领域内相关理论的学习以及作业流程特点,分析了机载激光雷达作业流程各环节中与数据质量相关的技术细节,研究了机载激光雷达误差源,包括激光扫描测距系统误差、各个系统之间的集成误差以及POS系统误差等。
(2)针对作业流程中存在的各误差源,提出了相应的解决方案,包括飞行管理软件Navigator的开发、激光雷达测距与测角误差的校准方案、IMU安置角误差的手工检校方案以及数据处理相关注意事项。
(3)结合AOE-LiDAR的设备特点开发了Navigator飞行管理软件,除具备航线设计、扫描参数设计、飞行导航、设备控制等功能外,还首次实现了质量实时评估的功能,可以在飞行作业时实时评估数据质量,有助于提高工程效率。
(4)通过日照飞行实验,不仅检验了AOE-LiDAR的性能,而且通过对飞行数据、点云数据的分析也验证了质量控制方案的有效性和实用性。
An Airborne Laser Detection and Ranging (Airborne LiDAR) system is an integration of Laser scanner, GPS, and INS. It is also called Airborne Laser Scanning (ALS) or Airborne Laser Altimetry. Airborne LiDAR system has the advantage of a high degree of automation, the little impact on weather, short cycle of data generation and high accuracy comparing with the other remote sensing technology
The investigation in this paper is based on the AOE-LiDAR. system, produced by Academy of Opto-Electronics, Chinese Academy of Sciences. Based on AOE-LiDAR system, the investigation is to analyze factors impact on data quality during the LiDAR workflow.From the flight plan to data processing.
Main researches in this paper are listed as follow:
(1) Based on analyzing about the each part in the LiDAR workflow, the paper deduce the main error sources in Airborne LiDAR system including internal errors、integrated errors and other errors..
(2)Furthermore, the paper offer the method to solve the errors in the LiDAR workflow, eg, the development of flight management software-Navigator which suit to AOE-LiDAR, the boresight calibration method and the important tips in data processing.
(3)The flight management software-Navigator finish the function that evaluating the data quality, The ability of Navigator can improve the engineering efficiency of LiDAR.
(4) At last, this paper introduces an experiment in RiZhao. This flight not only verify the performance AOE-LiDAR system. But also the data quality controlling method are reasonable and reliable.
论文在中国科学院光电研究院重点创新性项目“机载三维成像激光雷达系统技术研究”的支持下开展进行工作,在完成分析、研究机载LiDAR作业流程和数据处理流程的基础上,提出了针对各环节中与数据质量相关的解决方案,主要的研究成果有以下几个方面:
(1)基于对研究领域内相关理论的学习以及作业流程特点,分析了机载激光雷达作业流程各环节中与数据质量相关的技术细节,研究了机载激光雷达误差源,包括激光扫描测距系统误差、各个系统之间的集成误差以及POS系统误差等。
(2)针对作业流程中存在的各误差源,提出了相应的解决方案,包括飞行管理软件Navigator的开发、激光雷达测距与测角误差的校准方案、IMU安置角误差的手工检校方案以及数据处理相关注意事项。
(3)结合AOE-LiDAR的设备特点开发了Navigator飞行管理软件,除具备航线设计、扫描参数设计、飞行导航、设备控制等功能外,还首次实现了质量实时评估的功能,可以在飞行作业时实时评估数据质量,有助于提高工程效率。
(4)通过日照飞行实验,不仅检验了AOE-LiDAR的性能,而且通过对飞行数据、点云数据的分析也验证了质量控制方案的有效性和实用性。
An Airborne Laser Detection and Ranging (Airborne LiDAR) system is an integration of Laser scanner, GPS, and INS. It is also called Airborne Laser Scanning (ALS) or Airborne Laser Altimetry. Airborne LiDAR system has the advantage of a high degree of automation, the little impact on weather, short cycle of data generation and high accuracy comparing with the other remote sensing technology
The investigation in this paper is based on the AOE-LiDAR. system, produced by Academy of Opto-Electronics, Chinese Academy of Sciences. Based on AOE-LiDAR system, the investigation is to analyze factors impact on data quality during the LiDAR workflow.From the flight plan to data processing.
Main researches in this paper are listed as follow:
(1) Based on analyzing about the each part in the LiDAR workflow, the paper deduce the main error sources in Airborne LiDAR system including internal errors、integrated errors and other errors..
(2)Furthermore, the paper offer the method to solve the errors in the LiDAR workflow, eg, the development of flight management software-Navigator which suit to AOE-LiDAR, the boresight calibration method and the important tips in data processing.
(3)The flight management software-Navigator finish the function that evaluating the data quality, The ability of Navigator can improve the engineering efficiency of LiDAR.
(4) At last, this paper introduces an experiment in RiZhao. This flight not only verify the performance AOE-LiDAR system. But also the data quality controlling method are reasonable and reliable.
引文
1.李英成.快速获取地面三维数据的LiDAR技术系统[J],测绘科学,2002,27(4):35-38
2.隋立春,张宝印.LIDAR遥感基本原理及其发展[J].测绘科学技术学报.2006,23(2)
3.张小红.机载激光雷达测量技术理论与方法[M].武汉:武汉大学出版社,2007:207.
4.陈松尧.机载LiDAR系统原理及应用综述[J].测绘工程,2007,16(1):124-128
5.E.P.Baltsavias.Airborne laser scanning:existing systems and firms and other resources[J].ISPRS Journal of Photogrammetry & Remote Sensing.1999,54:164-198.
6.Optech.ALTM-NAV Flight Management Software Instruction Manual,www.optech.ca
7.E.P.Baltsavias.Airborne laser scanning:basic relations and formulas[J].ISPRS Journal of Photogrammetry & Remote Sensing.1999,54:199-214.
8.S.Filin.Calibration of Airborne and Spaceborne Laser Altimeters Using Natural Surfaces[D].Ohio:University of Ohio state,2001.
9.K.W.Morin.Calibration of Airborne Laser Scanners[D].CALGARY,ALBERTA:UNIVERSITY OF CALGARY,2002.
10.HelenBurman.Laster strip adjustment for data calibration and verification[C].2002.
11.HelenBurman.Calibration and Orientation of Airborne Image and Laser Scanner Data Using GPS and INS[D].Stockholm:Royal Institute of Technology,2000.
12.E.P.Baltsavias.A comparison between photogrammetry and laser scanning[J].ISPRS Journal of Photogrammetry & Remote Sensing.1999,54:83-94.
13.GB 15967-1995《1:500 1:1000 1:2000地形图航空摄影测量数字化测图规范》.中华人民共和国国家标准,1995
14.1:5000,1:10000,1:25000,1:50000,1:100000地形图航空摄影规范.中华人民共和国国家标准,1996
15.GB/T 19294-2003《航空摄影技术设计规范》.中华人民共和国国家标准,2003
16.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.2001,5(4):241-247.
17.刘少创.机载激光测距-扫描成像制图系统的定位原理与误差分析[J].武汉测绘科技大学学报,1999(24):124-128
18.S.Filin.Elimination of systematic errors from airborne laser scanning data[C].2005.
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.2002,27(2):111-117.
20.黄先锋,李卉,江万寿,等.机载激光扫描数据误差分析与精度改善研究进展[J].遥感信息.2007,3:91-95.
21.尤红建,江月松,李树楷.机载遥感直接对地定位的误差分析和精度估计[J],测绘学报,1998,27(1):86-91
22.童俊雄.空载光达系统误差分析与航带平差方法之探讨[D].国立成功大学,2005.
23.ASPRS Guidelines:Vertical Accuracy Reporting for Lidar Data[R].,2004.
24.ASPRS LIDAR GUIDELINES:Horizontal Accuracy Reporting[R].,2005.
25.H.Maas.Planimetric and height accuracy of airborne laser scanner data:.User requirements and system performance[C].2003.
26.J.Skaloud,D.Lichti.Rigorous approach to bore-sight self-calibration in airborne laser scanning[J].ISPRS Journal of Photogrammetry & Remote Sensing.2006,61:47-59.
27.杨天克.航空摄影规划设计与仿真[D],河南郑州:解放军信息工程大学,2005
28.薛恒福.航测设计与质量控制[J],测绘技术装备,1999,01(1):17-21
29.S.Filin,G.Vosselman.Adjustment of airborne laser altimetry strips[C].2004.
30.S.O.Elberink,G.Brand,RegineBr(u|¨)gelmann.Quality improvement of laser altimetry DEM's[C].2003.
31.阎吉祥.机载激光荧光雷达激光参数与飞行参数之关系[J],高技术通讯,2000,06:19-21
32.李学友.IMU/DGPS辅助航空摄影测量原理、方法及实践[D].信息工程大学,2005.
33.MartinC.Brown,康博公司译.PYTHON技术参考大全[M].北京:清华大学出版社,2002,12-45
34.Mark Lutz,Python编程(上下)[M].江苏南京:东南大学出版社,2006,114-121
35.李飞.基于GPS和GIS的航空摄影测量飞行管理系统关键技术研究[J],测绘科学,2005
36.Kilian,J.,Haala,N.,& Englich,M.(1996).Capture and evaluation of airborne laser data.International Archives of Photogrammetry and Remote Sensing,31(3),383-388(Vienna,Austria)
37.F.bretar,M.Pierrot-deseilligny,M.Roux.Solving the strip adjustment problem of 3D airborne lidar data[C].2004.
38.S.Filin.Analysis and Implementation of a laser strip adjustment model[C].2003.
39.A.F.Habib,K.I.Bang,S.Shin,et al.LIDAR System Self-calibration Using Planar Patches from Photogrammetric Data[C].Padua,Italy:2007.
40.R.Katzenbeisser.ABOUT THE CALIBRATION OF LIDAR SENSORS[C].2003.
41.S.Filin.Recovery of Systematic Biases in Laser Altimeters Using Natural Surfaces[C].2001.
42.S.Filin.A simultaneous solution to the calibration and the correspondence problems for spaceborne laser altimeters[C].2002.
43.郑团结,缪剑等.基于机载三维激光扫描的实时一体化摄影测量及数据处理[J].测绘技术装备.2007,32(1)
44.黄金浪.基于TerraScan的LIDAR数据处理[J].测绘通报.2007,(10)
45.Lohmann,P.,Koch,A.,& Schaeffer,M.(2000).Approaches to the filtering of laser scanner data.International Archives of Photogrammetry and Remote Sensing,33(B3/1),534-541
46.Sithole,G.(2005).Segmentation and Classification of Airborne Laser Scanner Data,Dissertation,TU Delft,ISBN 90 6132 292 8,Publications on Geodesy of the Netherlands Commission of Geodesy,Vol.59
47.李瑞林,李涛.一种从LIDAR点云数据中提取DTM的方法[J].铁道勘查.2007,(5)48.贾玉明,雷鸣.LIDAR机载激光雷达数据制作DEM原理分析[J].大众科技.2007,96
49.Andrej Kobler,Norbert Pfeifer et A robust algorithm for DTM generation from Aerial Laser Scanner Data in forested terrain Remote Sensing of Environment 2007
50.B.K.Lee,K.Yu,M.Pyeon.Effective Reduction of Horizontal Error in Laser Scanning Information by Strip-Wise Least Squares Adjustments[J].ETRI Journal.2003,25(2):109-120.
51.李德仁,周月琴,金为铣.摄影测量与遥感概论[M].北京:测绘出版社,2001
52.骆文英.浅谈数字正射影像图制作中的镶嵌技术[J].北京测绘,2002(4)
53.冯秀丽等.基于ERDAS的遥感影像正射图的制作[J].遥感技术与应用,2003(3)
54.党安荣等.ERDAS IMAGINE遥感图像处理方法[M].北京:清华大学出版社,2003.
55.官云兰.周世健,鲁铁定.基于ERDASIMAGINE的数字正射影像图的制作[J].测绘通 报,2005(12)
56.Abdullatif Alharthy,C.Briese.Analysis and Accuracy Assessment of Airborne Laserscanning System[C].2007.
57.E.Ahokas,H.Kaartinen.A Quality Assessment of Airborne Laser Scanner Data.[C].2007
58.F.Ackermann.Airborne laser scanning-present status and future expectations[J].ISPRS Journal of Photogrammetry & Remote Sensing.1999,54:64-67.
59.史廷玉,张志全,武军郦;浅谈基于VRS技术的全球定位城市综合服务系统建设[J],全球定位系统,2005(1).
60.严荣华,朱武.基于DEM的航空摄影技术设计系统的建立和应用[J],测绘通报,2003(2).
2.隋立春,张宝印.LIDAR遥感基本原理及其发展[J].测绘科学技术学报.2006,23(2)
3.张小红.机载激光雷达测量技术理论与方法[M].武汉:武汉大学出版社,2007:207.
4.陈松尧.机载LiDAR系统原理及应用综述[J].测绘工程,2007,16(1):124-128
5.E.P.Baltsavias.Airborne laser scanning:existing systems and firms and other resources[J].ISPRS Journal of Photogrammetry & Remote Sensing.1999,54:164-198.
6.Optech.ALTM-NAV Flight Management Software Instruction Manual,www.optech.ca
7.E.P.Baltsavias.Airborne laser scanning:basic relations and formulas[J].ISPRS Journal of Photogrammetry & Remote Sensing.1999,54:199-214.
8.S.Filin.Calibration of Airborne and Spaceborne Laser Altimeters Using Natural Surfaces[D].Ohio:University of Ohio state,2001.
9.K.W.Morin.Calibration of Airborne Laser Scanners[D].CALGARY,ALBERTA:UNIVERSITY OF CALGARY,2002.
10.HelenBurman.Laster strip adjustment for data calibration and verification[C].2002.
11.HelenBurman.Calibration and Orientation of Airborne Image and Laser Scanner Data Using GPS and INS[D].Stockholm:Royal Institute of Technology,2000.
12.E.P.Baltsavias.A comparison between photogrammetry and laser scanning[J].ISPRS Journal of Photogrammetry & Remote Sensing.1999,54:83-94.
13.GB 15967-1995《1:500 1:1000 1:2000地形图航空摄影测量数字化测图规范》.中华人民共和国国家标准,1995
14.1:5000,1:10000,1:25000,1:50000,1:100000地形图航空摄影规范.中华人民共和国国家标准,1996
15.GB/T 19294-2003《航空摄影技术设计规范》.中华人民共和国国家标准,2003
16.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.2001,5(4):241-247.
17.刘少创.机载激光测距-扫描成像制图系统的定位原理与误差分析[J].武汉测绘科技大学学报,1999(24):124-128
18.S.Filin.Elimination of systematic errors from airborne laser scanning data[C].2005.
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.2002,27(2):111-117.
20.黄先锋,李卉,江万寿,等.机载激光扫描数据误差分析与精度改善研究进展[J].遥感信息.2007,3:91-95.
21.尤红建,江月松,李树楷.机载遥感直接对地定位的误差分析和精度估计[J],测绘学报,1998,27(1):86-91
22.童俊雄.空载光达系统误差分析与航带平差方法之探讨[D].国立成功大学,2005.
23.ASPRS Guidelines:Vertical Accuracy Reporting for Lidar Data[R].,2004.
24.ASPRS LIDAR GUIDELINES:Horizontal Accuracy Reporting[R].,2005.
25.H.Maas.Planimetric and height accuracy of airborne laser scanner data:.User requirements and system performance[C].2003.
26.J.Skaloud,D.Lichti.Rigorous approach to bore-sight self-calibration in airborne laser scanning[J].ISPRS Journal of Photogrammetry & Remote Sensing.2006,61:47-59.
27.杨天克.航空摄影规划设计与仿真[D],河南郑州:解放军信息工程大学,2005
28.薛恒福.航测设计与质量控制[J],测绘技术装备,1999,01(1):17-21
29.S.Filin,G.Vosselman.Adjustment of airborne laser altimetry strips[C].2004.
30.S.O.Elberink,G.Brand,RegineBr(u|¨)gelmann.Quality improvement of laser altimetry DEM's[C].2003.
31.阎吉祥.机载激光荧光雷达激光参数与飞行参数之关系[J],高技术通讯,2000,06:19-21
32.李学友.IMU/DGPS辅助航空摄影测量原理、方法及实践[D].信息工程大学,2005.
33.MartinC.Brown,康博公司译.PYTHON技术参考大全[M].北京:清华大学出版社,2002,12-45
34.Mark Lutz,Python编程(上下)[M].江苏南京:东南大学出版社,2006,114-121
35.李飞.基于GPS和GIS的航空摄影测量飞行管理系统关键技术研究[J],测绘科学,2005
36.Kilian,J.,Haala,N.,& Englich,M.(1996).Capture and evaluation of airborne laser data.International Archives of Photogrammetry and Remote Sensing,31(3),383-388(Vienna,Austria)
37.F.bretar,M.Pierrot-deseilligny,M.Roux.Solving the strip adjustment problem of 3D airborne lidar data[C].2004.
38.S.Filin.Analysis and Implementation of a laser strip adjustment model[C].2003.
39.A.F.Habib,K.I.Bang,S.Shin,et al.LIDAR System Self-calibration Using Planar Patches from Photogrammetric Data[C].Padua,Italy:2007.
40.R.Katzenbeisser.ABOUT THE CALIBRATION OF LIDAR SENSORS[C].2003.
41.S.Filin.Recovery of Systematic Biases in Laser Altimeters Using Natural Surfaces[C].2001.
42.S.Filin.A simultaneous solution to the calibration and the correspondence problems for spaceborne laser altimeters[C].2002.
43.郑团结,缪剑等.基于机载三维激光扫描的实时一体化摄影测量及数据处理[J].测绘技术装备.2007,32(1)
44.黄金浪.基于TerraScan的LIDAR数据处理[J].测绘通报.2007,(10)
45.Lohmann,P.,Koch,A.,& Schaeffer,M.(2000).Approaches to the filtering of laser scanner data.International Archives of Photogrammetry and Remote Sensing,33(B3/1),534-541
46.Sithole,G.(2005).Segmentation and Classification of Airborne Laser Scanner Data,Dissertation,TU Delft,ISBN 90 6132 292 8,Publications on Geodesy of the Netherlands Commission of Geodesy,Vol.59
47.李瑞林,李涛.一种从LIDAR点云数据中提取DTM的方法[J].铁道勘查.2007,(5)48.贾玉明,雷鸣.LIDAR机载激光雷达数据制作DEM原理分析[J].大众科技.2007,96
49.Andrej Kobler,Norbert Pfeifer et A robust algorithm for DTM generation from Aerial Laser Scanner Data in forested terrain Remote Sensing of Environment 2007
50.B.K.Lee,K.Yu,M.Pyeon.Effective Reduction of Horizontal Error in Laser Scanning Information by Strip-Wise Least Squares Adjustments[J].ETRI Journal.2003,25(2):109-120.
51.李德仁,周月琴,金为铣.摄影测量与遥感概论[M].北京:测绘出版社,2001
52.骆文英.浅谈数字正射影像图制作中的镶嵌技术[J].北京测绘,2002(4)
53.冯秀丽等.基于ERDAS的遥感影像正射图的制作[J].遥感技术与应用,2003(3)
54.党安荣等.ERDAS IMAGINE遥感图像处理方法[M].北京:清华大学出版社,2003.
55.官云兰.周世健,鲁铁定.基于ERDASIMAGINE的数字正射影像图的制作[J].测绘通 报,2005(12)
56.Abdullatif Alharthy,C.Briese.Analysis and Accuracy Assessment of Airborne Laserscanning System[C].2007.
57.E.Ahokas,H.Kaartinen.A Quality Assessment of Airborne Laser Scanner Data.[C].2007
58.F.Ackermann.Airborne laser scanning-present status and future expectations[J].ISPRS Journal of Photogrammetry & Remote Sensing.1999,54:64-67.
59.史廷玉,张志全,武军郦;浅谈基于VRS技术的全球定位城市综合服务系统建设[J],全球定位系统,2005(1).
60.严荣华,朱武.基于DEM的航空摄影技术设计系统的建立和应用[J],测绘通报,2003(2).