轻小型无人机载激光雷达测量系统检校方法  

Calibration of Laser Scanning Measurement System for Mini UAV

作　　者：田绿林 邢帅[1,2] 郭松涛 陈丽 王丹菂 TIAN Lulin;XING Shuai;GUO Songtao;CHEN Li;WANG Dandi(Information Engineering University,Zhengzhou 450001,China;Collaborative Innovation Center of Geo-Information Technology for Smart Central Plains,Henan Province,Zhengzhou 450001,China)

机构地区：[1]信息工程大学,河南郑州450001 [2]智慧中原地理信息技术河南省协同创新中心,河南郑州450001

出　　处：《信息工程大学学报》2024年第1期65-73,共9页Journal of Information Engineering University

基　　金：国家自然科学基金资助项目(41876105,41371436)。

摘　　要：轻小型无人机载激光雷达测量系统具有成本低廉、作业便利等优势,其应用领域越来越广泛。但现有系统由于控制成本等原因,使其直接采集的点云数据质量不高,必须通过地面检校来消除系统误差。设计了一套适用于轻小型无人机载激光雷达测量系统的检校方案,首先设计了一种可灵活组装与使用的圆型靶标器,其次建立了以航带点云为单元的区域网平差模型,最后通过精确测量靶标器中心点的真实地面坐标和采集点云坐标,平差求解出每条航带点云的几何校正参数并以大疆禅思L1激光雷达测量系统为例对该方法进行了实验。结果表明该方案可显著提升原始点云的定位精度。此外,通过设计不同的靶标器布设方案对检校实施方案进行了探讨,总结了靶标器最佳布设原则。With the advantages of low cost and convenient operation,mini unmanned aerial venicle(UAV)laser scanning measurement system becomes more and more widely used.However,to obtain high-quality point cloud data,the elimination of systematic errors through ground calibration is an essential work.In this paper,we design a calibration scheme suitable for mini UAV laser scanning measurement system.Firstly,we design a circular target which can be assembled and used flexibly.Then we establish the block adjustment model by taking strip as unit.The geometric correction parameters of point cloud in each strip are solved by accurately measuring the real ground coordinates and the point cloud coordinates for the central point through adjustment.Finally,we take DJI Zenmuse L1 laser scanning measurement system as an example for testing.The experimental results show that this method can significantly improve the positioning accuracy of the original point cloud,and has robustness.By designing different layout schemes of target devices,we summarize the best layout scheme of ground marks by analyzing different ground marks layout schemes.

关 键 词：激光雷达测量系统 轻小型无人机 系统检校 精度验证 航带区域网平差 三维点云 大疆禅思L1 

分 类 号：P237[天文地球—摄影测量与遥感] TN958.98[天文地球—测绘科学与技术]