基于GPS/INS的机载三维激光测控系统的设计  

Design of 3D airborne laser measuring and control system based on GPS/INS

作　　者：吴文升[1] 姚定忠[1] 裴海龙[1] 

机构地区：[1]华南理工大学自动化科学与工程学院,广东广州510641

出　　处：《传感器与微系统》2011年第7期91-94,99,共5页Transducer and Microsystem Technologies

基　　金：国家自然科学基金重点资助项目(60736024);国家自然科学基金资助项目(60574004);教育部科技创新工程重大项目培育基金资助项目(708069)

摘　　要：设计并实现了一种机载激光测控系统的软硬件方案,系统的GPS/INS传感平台,使得系统可以不依赖于姿态和位置的精确控制。应用高阶次的扩展Kalm an滤波算法进行传感器数据的融合。利用数据融合得到的信息,通过解算获得激光三维点云数据。实验结果表明:设计的激光测量系统具有良好的可行性,所设计的高阶扩展Kalm an融合算法对GPS/INS传感平台数据能够有效地融合滤波。而对可移动式的系统平台设计,可以安装于各种移动机器人上,进行远程动态的三维点云数据采集与处理。A software and hardware proposal of laser measuring and controlling system is designed and implemented.The INS/GPS sensor platform of the laser measuring system make it possible not rely on precise control of pose and location.Application of high-order extended Kalman filter algorithm for sensor data fusion.Using data fusion information to get three-dimensional point cloud data.Experimental results show that,the laser measurement system has good feasibility,the designed high-order extended Kalman fusion algorithm can effectively fuse and filter on the GPS/INS sensor platform data.The system platform could be handily loaded on the vehicle,mobile robot or airborne robot for remote,dynamic data acquisition and processing.

关 键 词：激光测量 动态实时显示 INS/GPS传感平台 数据融合 三维点云 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置]