基于船载移动激光扫描的滩涂崩岸测量系统关键技术研究

发布时间：2018-03-10 05:05

本文选题：船载移动三维激光扫描系统　切入点：多传感器　出处：《东华理工大学》2016年硕士论文　论文类型：学位论文

【摘要】：我国滩地资源十分丰富,滩涂资源作为重要的后备土地资源有着巨大的开发潜力和利用价值。同时,近年来随着长江水情变化,河道崩岸已严重威胁到人们的工、农业生产。对滩涂土地资源信息采集及河道崩岸的监测、预测已经成为刻不容缓的任务。由于环境复杂、条件困难,对滩涂崩岸的信息采集受诸多因素的影响。如何高效、高质量获取滩涂崩岸信息以补充和完善现有系统的精度及局限性是当前的一个难点。而移动三维激光测量系统与传统测量系统相比较,有着长距离、非接触式、高效、高精度的优势,克服了传统测量方法的不足。本文以船载移动激光扫描的滩涂崩岸测量系统的研制与应用为背景,重点探讨船载移动扫描系统的组成、工作原理,多传感器的时间配准方法和时间延迟探测方法,以及系统空间数据处理,包括多传感器的参数标定、坐标系统间的转换以及误差分析与处理,并结合大量实践,取得了一定的效果。本文主要研究内容及成果如下:1)首先阐述了移动三维激光扫描系统的组成和工作原理,详细分析了GNSS/INS组合导航系统的原理和POSLV系统的组成及其技术特点。根据实际需要,本文设计了集成于同一平台的多传感器移动三维激光扫描系统。2)详细分析了多传感器系统时间同步的重要性。首先对各传感器的时间时间系统和之间的转换关系进行介绍,再着重探讨了多传感器信号时间延迟对测量精度的影响。基于此,本文研究了一种基于相关系数迭代法的多传感器时间同步方法,该方法可以准确地探测出多传感器信号的时间延迟量,有效地解决了多传感器信号传输过程中时间延迟而导致时间不同步的问题,一定程度上提高了移动测量系统精度。3)研究了多传感器的综合参数标定方法,并对移动扫描系统的空间数据及其融合算法的展开研究,分析了移动测量系统的误差来源以及对误差的处理方法。并按照实际需求,利用设计的移动扫描系统展开试验研究,研制了包括时间配准以及空间数据配准的多传感器数据处理软件,并取得良好效果,验证了移动三维激光扫描系统的可行性。4)结合滩涂崩岸测量工程实例,详细阐述了船载移动扫描系统技术方法、数据采集及处理流程,并对其成果的精度进行检核验证,证明了船载移动扫描系统的可靠性。
[Abstract]:As an important reserve land resource, the tidal flat resource has great potential and utilization value. At the same time, with the changes of the Yangtze River in recent years, the river bank collapse has seriously threatened people's work. Agricultural production. The information collection of land resources in tidal flat and the monitoring of river bank collapse have become an urgent task. Because of the complex environment and difficult conditions, the information collection of beach land collapse is affected by many factors. It is a difficulty to obtain the information of shoal collapse with high quality to supplement and perfect the accuracy and limitation of the existing system. Compared with the traditional measurement system, the mobile 3D laser measurement system has long distance, non-contact and high efficiency. The advantages of high precision overcome the shortcomings of traditional measurement methods. This paper, based on the development and application of the shoal landfall measurement system based on ship moving laser scanning, mainly discusses the composition and working principle of the shipborne moving scanning system. The time registration method and time delay detection method of multi-sensor, as well as the spatial data processing of the system, including the calibration of multi-sensor parameters, the transformation between coordinate systems and the error analysis and processing, are combined with a large number of practices. The main contents and results of this paper are as follows: 1) first, the composition and working principle of the mobile 3D laser scanning system are described. The principle of GNSS/INS integrated navigation system and the composition and technical characteristics of POSLV system are analyzed in detail. This paper designs a multi-sensor mobile 3D laser scanning system. 2) the importance of time synchronization of multi-sensor system is analyzed in detail. Firstly, the time time system of each sensor and its conversion relationship are introduced. The influence of time delay of multi-sensor signal on measurement accuracy is discussed. Based on this, a multi-sensor time synchronization method based on correlation coefficient iteration method is studied in this paper. This method can accurately detect the time delay of multi-sensor signal, and it can effectively solve the problem of time delay in the process of multi-sensor signal transmission. To a certain extent, the accuracy of mobile measurement system is improved. 3) the multi-sensor comprehensive parameter calibration method is studied, and the spatial data of mobile scanning system and its fusion algorithm are studied. The error source of the mobile measurement system and the method to deal with the error are analyzed. According to the actual demand, the experimental research is carried out by using the designed mobile scanning system. A multi-sensor data processing software including time registration and spatial data registration is developed, and good results are obtained. The feasibility of the mobile 3D laser scanning system is verified. The technical method, data acquisition and processing flow of the shipborne mobile scanning system are described in detail, and the accuracy of the results is checked and verified, which proves the reliability of the shipborne mobile scanning system.
【学位授予单位】：东华理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：P714;P748

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