一种激光雷达传感数据可信度评估方法设计  

Design of a Reliability Evaluation Method for Lidar Sensing Data

作　　者：王莉萍 邱建林[2] WANG Liping;QIU Jianlin(School of Computer and Information Engineering,Nantong University of Technology,Nantong Jiangsu 226002,China;School of Information Science and Technology,Nantong University,Nantong Jiangsu 226019,China)

机构地区：[1]南通理工学院计算机与信息工程学院,江苏南通226002 [2]南通大学信息科学技术学院,江苏南通226019

出　　处：《现代雷达》2025年第1期64-70,共7页Modern Radar

基　　金：国家自然科学基金资助项目(61202006)。

摘　　要：由于现有方法在对激光雷达数据可信度进行评估时未考虑其长距离约束影响,导致评估结果不准确的问题,文中提出了一种激光雷达传感数据可信度评估方法设计。先针对激光雷达数据进行激光雷达作用距离分析,然后以此为约束条件,结合反向传播神经网络,完成激光雷达传感数据评估模型的建立,最后利用隐藏层的激活函数激活数据可信显著度,通过权重训练得出信道误差和待评估数据误差。以二者间的误差阈值为判定依据,进行数据可信度评估。测试结果证明,所提方法可信度评估准确性高,可行性强,算法具有一定适应能力。Due to the lack of consideration of long-range constraints in existing methods for evaluating the credibility of lidar data,resulting in inaccurate evaluation results,this paper proposes a design of a lidar sensor data credibility evaluation method.Firstly,an analysis of the lidar operating range is conducted on the lidar data.Then,using this as a constraint condition and combined with a BP neural network,a lidar sensing data evaluation model is established.Finally,the activation function of the hidden layer is used to activate the data′s credible significance,and the channel error and the error of the data to be evaluated are obtained through weight training.Based on the error threshold between the two,the data credibility was evaluated.The test results showed that the proposed method has high accuracy and strong feasibility in credibility evaluation,and the algorithm has certain adaptability.

关 键 词：激光雷达 可信度评估 反向传播神经网络 信度向量 评估集 

分 类 号：TN958.98[电子电信—信号与信息处理]