基于误差椭球的激光雷达测量系统精度分析  

Accuracy Analysis of Laser Radar Measurement System Based on Error Ellipsoid Model

作　　者：杜正春[1,2] 未永飞[1] 姚振强[1,2] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240 [2]上海交通大学机械系统与振动国家重点实验室,上海200240

出　　处：《上海交通大学学报》2009年第12期1881-1885,共5页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金资助项目(50805094);国家重点基础研究发展规划(973)项目(2006CB705400)

摘　　要：采用误差椭球理论分析方法对测量数据进行点位不确定性分析.基于随机过程理论和测量平差理论,重点分析了误差椭球的关键参数和影响因子,得出目标点位落入误差椭球的概率;分析了激光雷达测量系统在测量方向上的误差特性,得到测量点的位置不确定性矩阵;同时,结合具体的算例给出了误差椭球可视化表达.结果表明,采用基于误差椭球理论的激光雷达测量不确定性分析方法,可充分解释激光雷达测量数据的精度问题,为进一步提高激光雷达测量和重构精度提供了有力的分析工具.The error ellipsoid model based method was proposed to analyze the uncertainty of the three-dimensional laser radar measurement data. Based on stochastic process theory and data processing theory, the key parameters and influencing factors of error ellipsoid were addressed, and the probability of object point fallen into error ellipsoid was calculated. Then the position uncertainty matrix of scanning point was obtained through the error characteristics in different direction of the laser radar measurement system. Finally, visualization of error ellipsoid was carried out with a particular numerical example. The result shows that the uncertainty analysis method based on the error ellipsoid model can explain the accuracy problem of laser radar measurement data, and provide a strong analysis tool for the accuracy improvement of the laser radar measurement and data reconstruction.

关 键 词：激光雷达 测量系统 误差椭球 可视化 不确定性 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]