三维激光成像系统构像点定位方法  

Orientation of target in 3D laser imaging system

作　　者：刘生炳 魏宗康[1] 陈东生[1] 夏刚[1] 

机构地区：[1]北京航天控制仪器研究所,北京100854

出　　处：《中国惯性技术学报》2013年第5期615-619,共5页Journal of Chinese Inertial Technology

基　　金：民用航天专业技术预先研究项目(D010101)

摘　　要：三维激光成像系统是一种包含激光扫描仪、惯性导航系统(SINS)、全球定位系统(GPS)等多种先进技术的复杂系统。三维激光成像系统工作时通过激光扫描仪对被扫描物进行扫描,获得被扫描物与扫描仪中心的距离和被扫描物的方位,通过SINS获得载体姿态信息并求出载体坐标系至地理坐标系的姿态变换矩阵,通过GPS获得载体的位置信息并求出地理坐标系至地球坐标系的变换矩阵,综合利用以上信息,通过坐标变换的方法即可获得被扫描点在地球坐标系中的位置坐标,即完成三维激光成像系统的定位。通过试验验证,这种方法能够准确的完成三维激光成像系统构像点的定位,具有原理简单,定位精度高,编程容易实现的优点,为被扫描物三维视图的建立奠定基础。The 3D laser imaging system is a complex system which contains a variety of advanced technologies, including laser scanner, SINS and GPS. The 3D laser imaging system can obtain the distance and angle between the scanner and the target through the scanner. Through the SINS, the 3D laser imaging system can obtain the attitude transform matrix between carrier frame and navigation frame. The 3D laser imaging system can obtain the transform matrix between navigation frame and earth frame. It is easy to calculate the coordinate of target in earth frame through using all the information. The test results show that this method can calculate the coordinate of target. It has a lot of strong-points, e. g. the theory is easy, the precision is very high and it is very easy for engineer make program.

关 键 词：激光扫描 组合导航 三维激光成像系统 构像点定位 

分 类 号：U666.1[交通运输工程—船舶及航道工程]