国产机载LiDAR系统定位模型的建立与应用实验分析

发布时间：2018-07-10 18:20

本文选题：国产机载LiDAR系统 + 误差分析　；参考：《辽宁工程技术大学》2014年硕士论文

【摘要】：随着科技进步、经济的快速发展,人们对空间信息获取的数据精度、现势性及产品质量等各方面提出了越来越高的要求。机载LiDAR软硬件在国外发展比较成熟且取得了大量商业化产品,而国内还处于发展阶段,迫切需要一套具有自主知识产权的国产机载激光雷达系统。在国家重点项目支撑下,中国测绘科学研究院联合多家单位成功研制了一套国产机载LiDAR系统,本文基于国产LiDAR系统组成与工作原理,对国产机载激光雷达系统的定位模型、集成检校、探索应用等方面进行了深入研究,本文包括：一、系统定位模型的建立与误差分析。依据系统组成与工作原理,建立该系统的定位模型,分析该系统所存在的八种误差,在VS2010 C++的开发平台上开发程序GeoVision Point Cloud,该程序主要包括轨迹生成、误差纠正、坐标解算、MRK文件生成等相关功能,通过所采集试验数据进行解算激光点云数据,并进行精度评定,以此来验证该模型的可行性与正确性。二、系统集成检校。国产机载LiDAR系统由多种传感器高度集成,各传感器之间的安置误差对后期数据产品的精度与质量有很大影响,故需要对该集成系统进行检校,以获取相关参数,其中检校参数主要包括POS与GPS、LiDAR与POS、相机与POS之间安置元素的解算,针对不同的传感器之间的安置元素设计不同的检校模型,以精确获取各传感器之间的安置元素,进一步提高激光点云数据的定位精度。利用检校前后数据进行对比分析,发现数据质量明显得到提高。三、国产机载激光雷达系统的应用试验分析。首次将国产机载激光雷达系统应用到水利行业的河道治理、地质灾害监测及电力巡线领域,针对不同领域应用需求,设计国产LiDAR系统的专业应用方案,通过实际飞行获取激光数据、影像数据及POS数据。数据处理结果表明,将该系统应用到这些领域是可行的。同时也更好的实现了国产机载激光雷达系统跨行业的应用推广。
[Abstract]:With the development of science and technology and the rapid development of economy, more and more demands have been put forward on the data accuracy, present situation and product quality of spatial information acquisition. The software and hardware of airborne LiDAR have been developed in foreign countries and a large number of commercial products have been obtained. However, in China, there is an urgent need for a domestic airborne lidar system with independent intellectual property rights. Under the support of national key projects, the China Academy of surveying and Mapping has successfully developed a set of domestic airborne LiDAR system. Based on the composition and working principle of domestic LiDAR system, the localization model of domestic airborne lidar system has been developed in this paper. Integrated checking, exploring and application are studied in detail. This paper includes: first, the establishment of system positioning model and error analysis. According to the composition and working principle of the system, the positioning model of the system is established, and the eight kinds of errors in the system are analyzed. The program GeoVision Point Cloudis developed on the platform of VS2010 C, which mainly includes trajectory generation, error correction, etc. In order to verify the feasibility and correctness of the model, the MRK files are generated and the laser point cloud data are calculated by the collected experimental data, and the accuracy is evaluated to verify the feasibility and correctness of the model. Second, system integration checking. The domestic airborne LiDAR system is highly integrated by a variety of sensors, and the placement errors among the sensors have a great influence on the accuracy and quality of the later data products. Therefore, it is necessary to check the integrated system to obtain the relevant parameters. The calibration parameters mainly include POS and GPS LiDAR and POS, and the solution of placement elements between camera and POS. Different calibration models are designed for different sensors to accurately obtain the placement elements between sensors. Further improve the location accuracy of laser point cloud data. By comparing and analyzing the data before and after checking, it is found that the quality of the data is improved obviously. Third, the application test analysis of domestic airborne lidar system. For the first time, the domestic airborne lidar system is applied to the water conservancy industry in the fields of river treatment, geological hazard monitoring and power line inspection. The professional application scheme of domestic LiDAR system is designed according to the application requirements in different fields. Laser data, image data and POS data are obtained by actual flight. The data processing results show that it is feasible to apply the system to these fields. At the same time, it also realizes the cross-industry application of domestic airborne lidar system.
【学位授予单位】：辽宁工程技术大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：P237

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