激光点云解算的软硬件协同设计与实现  

Design and implementation of points position cloud calculation based on software-hardware co-design

作　　者：何锐斌 李子扬[1] 贺文静[1] 胡坚[1] 李传荣[1] He Ruibin;Li Ziyang;He Wenjing;Hu Jian;Li Chuanrong(Key Laboratory of Quantitative Remote Sensing Information Technology,Academy of Opto-Electronics,Chinese Academy of Sciences,Beijing 100094,China;University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院光电研究院中国科学院定量遥感信息技术重点实验室,北京100094 [2]中国科学院大学,北京100049

出　　处：《电子技术应用》2019年第3期100-103,共4页Application of Electronic Technique

摘　　要：机载激光雷达在测绘、勘探等领域有广泛的应用,其数据处理联合激光雷达测距数据和姿态位置信息,解算获得扫描目标的三维坐标并形成三维点云图。为了满足机载激光雷达点云解算的实时性要求,采用基于软硬件协同的设计方法,设计、实现了激光点云解算的SoC。通过使用基于AXI-4的DMA高速传输方式,运用流水线优化和存储优化方法,实现了高性能的硬件加速器。实验结果表明,提出的激光点云解算的SoC能够满足机载平台的实时性处理要求。Airborne lidar has a wide range of applications in mapping, exploration and so on. Its data processing uses the ranging data of Li DAR and the position and orientation information to obtain high precision surface models. In order to meet the real-time requirements of airborne LiDAR points position cloud calculation, a software-hardware co-design based method is used to design and implement the SoC of points position cloud calculation. A high-performance hardware accelerator is realized by using the AXI-4-based DMA high-speed transmission and using pipeline optimization and storage optimization methods. The experimental results show that the proposed SoC of points position cloud calculation can meet the real-time processing requirements of the airborne platform.

关 键 词：软硬件协同 FPGA 硬件加速器 点云解算 

分 类 号：V243.2[航空宇航科学与技术—飞行器设计]