无人机机载激光雷达四面塔镜三维成像方法  

Three-Dimensional Imaging Method of Four-Sided Tower Mirror Scanning for Unmanned Aerial Vehicle Airborne LiDAR

作　　者：胡雪晴 毛庆洲 胡庆武[1] 周昊 吴安磊 Hu Xueqing;Mao Qingzhou;Hu Qingwu;Zhou Hao;Wu Anlei(School of Remote Sensing and Information Engineering,Wuhan University,Wuhan 430079,Hubei,China;Wuhan Institute of Quantum Technology,Wuhan 430061,Hubei,China;State Key Laboratory of Information Engineering in Surveying,Mapping and Remote Sensing,Wuhan University,Wuhan 430072,Hubei,China)

机构地区：[1]武汉大学遥感信息工程学院,湖北武汉430079 [2]武汉量子技术研究院,湖北武汉430061 [3]武汉大学测绘遥感信息工程国家重点实验室,湖北武汉430072

出　　处：《激光与光电子学进展》2023年第14期312-320,共9页Laser & Optoelectronics Progress

基　　金：国家自然科学基金(41971413,U1934215)。

摘　　要：针对当前45°镜转扫模式的无人机机载激光雷达扫描效率低、视场角小的问题,提出一种四面塔镜扫描高精度三维成像方法。首先,设计一种面向无人机载激光雷达扫描的四面塔镜结构;其次,建立四面塔镜扫描成像模型,推导四面塔镜扫描坐标方程;再次,分析四面塔镜的轨迹特点和影响因素,并与45°镜的扫描轨迹进行对比;最后,通过实验对比四面塔镜和45°镜扫描无人机机载激光雷达获取的三维激光点云质量。结果表明,在相同转速下四面塔镜的扫描效率为45°镜的三倍以上,扫描点云密度高、厚度小、穿透性好,在高精度地形测绘中具有广泛应用前景。A high-precision three-dimensional(3D)imaging method using four-sided tower mirror scanning is proposed,herein,with the aim of solving the problems of low scanning efficiency and small angle of view of unmanned aerial vehicle(UAV)airborne lidar in the current 45°mirror scanning mode.First,a four-sided tower mirror structure for unmanned airborne LiDAR scanning was designed.Second,the scanning imaging model of this tower mirror was established,and its scanning coordinate equation was thus derived.Third,the track characteristics and influencing factors of the tower mirror were analyzed and compared with the scanning track of the 45°mirror.Finally,the qualities of the 3D laser point clouds obtained by the four-sided tower mirror and 45°mirror scanning UAV airborne laser radar were compared through experiments;the results indicate that the scanning efficiency of the former is more than three times that of the latter at the same speed.Additionally,the scanning point cloud has high density,small thickness,and good penetrability;it has broad application prospects in high-precision topographic mapping.

关 键 词：遥感 激光扫描 塔式转镜 扫描轨迹 点云质量 

分 类 号：TN958.98[电子电信—信号与信息处理]