基于标定场的激光雷达两步标定方法  

Two-Step Calibration Method of Lidar Sensor Based on Calibration Field

作　　者：吴奋陟[1] 郭绍刚[1] 朱飞虎[1] 王立[1] 吴云[1] 刘达[1] 

机构地区：[1]北京控制工程研究所,北京100190

出　　处：《空间控制技术与应用》2017年第4期57-62,共6页Aerospace Control and Application

基　　金：国家重点基础研究发展计划(973)资助项目(2013CB733100)

摘　　要：针对激光雷达大测量范围高精度测角测距问题,提出一种基于标定场的激光雷达两步标定方法.该方法在分析激光雷达测角误差和测距误差的基础上,提出激光雷达误差修正模型.该模型将距离修正从标定模型中分离,首先利用靶标场完成全视场的角度标定,并确定其外部参数,再利用基线场实现距离标定.以降低距离标定参数与角度标定参数之间的耦合性,保证激光雷达角度和距离标定的精度和准确度.实验结果表明方法合理有效,能够实现激光雷达的高精度标定.In order to solve the problem of high precision distance and angle measurement of lidar with large measurement range, a two-step calibration method of lidar sensor based on calibration field is pro- posed in this paper. Based on the analysis of the angle measurement error and the distance measurement error of lidar, an error correction model is proposed in this paper. This model separates the distance cor- rection from the angle correction. First, the calibration field is used to complete the angle calibration, and the external parameters are also calculated in this step. Second, the baseline field is used to com- plete the distance calibration. This method reduces the correlation between the distance calibration pa- rameters and the angle calibration parameters, and guarantees the calibration precision and accuracy. The experimental results show that the method is reasonable and effective, and is able to complete the high precision calibration of lidar.

关 键 词：激光雷达 两步标定 标定场 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]