基于激光测距的传感系统的研究

发布时间：2018-05-12 14:18

本文选题：激光测距传感系统 + 无人机　；参考：《北京交通大学》2017年硕士论文

【摘要】：近年来,随着科技的不断进步,人们对各个行业和领域的自动化程度要求越来越高。堆位测量(矿山、码头的物料堆等)作为重要的国民生产领域技术,也在不断的改进和发展。传统的测量方法不仅效率低,而且对于矿山这些地理环境比较复杂的地方,测量人员的安全问题也会受到威胁。针对这些问题,本文提出一种基于激光测距原理构建的传感系统,既可用于大型矿场、码头的物料测量,也可用于矿山安全与智能采矿系统。单一传感器对于多传感器而言,测量速度比较慢。故本文将利用多传感器融合定位技术,这样获取目标数据会更快更准确,主要工作如下:(1)对多种激光测距方案进行了研究和比较,根据应用情况,对测距传感系统发射模块的激光驱动电路及接收模块的前置放大电路、主放大电路和时间测量电路进行了设计,分析了产生测距误差的影响因素,选取合适的器件和设计方案。(2)分析陆基导航定位和星基导航定位系统,并选择GPS定位系统与测距传感系统进行融合。根据GPS定位系统与测距传感系统的原理及特点,将两个系统融合在一起,构成一个GPS激光测距传感系统,并对该传感定位系统的各个子模块进行设计。(3)完成了无人机搭载GPS激光测距传感系统对矿场及其他物料堆进行测量的系统设计,对无人机机载GPS激光测距传感系统进行三维测量和数据处理的方法进行了研究。本论文提出的这种测量系统,具有重要的理论和现实意义,在矿山测量和堆位测量领域具有广泛的应用前景。
[Abstract]:In recent years, with the continuous progress of science and technology, people demand more and more automation in various industries and fields. As an important national production technology, stack measurement (mine, wharf material pile, etc.) has been continuously improved and developed. Traditional survey methods are not only inefficient, but also threaten the safety of surveyors in places with complex geographical environment. Aiming at these problems, this paper presents a sensing system based on the principle of laser ranging, which can be used for material measurement in large mines and wharves as well as mine safety and intelligent mining systems. For multiple sensors, the measurement speed of a single sensor is relatively slow. Therefore, this paper will use multi-sensor fusion localization technology to obtain target data faster and more accurately. The main work is as follows: 1) Research and comparison of various laser ranging schemes, according to the application, The laser driving circuit of the emitter module of the ranging sensor system and the preamplifier circuit of the receiving module, the main amplifier circuit and the time measuring circuit are designed. The influencing factors of the ranging error are analyzed. Select the appropriate device and design scheme. 2) analyze the land-based navigation and satellite-based navigation and positioning system, and select the GPS positioning system and ranging sensor system for fusion. According to the principle and characteristics of GPS positioning system and ranging sensing system, the two systems are fused together to form a GPS laser ranging sensing system. And the sub-modules of the sensing and positioning system are designed. 3) the system design of measuring mine field and other material stacks with GPS laser ranging sensing system for UAV is completed. The methods of three-dimensional measurement and data processing for airborne GPS laser ranging sensing system of UAV are studied. The measurement system proposed in this paper has important theoretical and practical significance and has a wide application prospect in the field of mine survey and heap survey.
【学位授予单位】：北京交通大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP212;TN249

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