北斗导航授时的移动激光雷达测量系统时间同步装置设计

Design of time synchronization device for mobile LiDAR measurement system based on BeiDou navigation timing

移动激光雷达测量系统各测量传感器间的时空配准技术是整个系统设计的核心,其中时间同步问题尤为关键。针对惯导系统与激光雷达和全景相机之间的时间精确同步问题,结合北斗导航授时系统提出自行设计时间同步装置的方式,对集成激光雷达、惯性导航系统、全景相机等测绘传感器的车载测量平台,提供时空配准信息。以拥有全自主知识产权的车载移动测量系统为研究对象,通过该系统采集点云数据,使用设计生产的时间同步装置和编制的上位机软件与北斗卫星导航系统结合进行精确授时。最终时间同步精度达到了0.1μs,验证了时间同步装置设计方法的可行性。

The space-time registration technology between the measurement sensors of the mobile LiDAR measurement system is the core technology of the entire system design,and the problem of time synchronization is particularly critical.Aiming at the problem of accurate time synchronization between the inertial navigation system and the LiDAR and panoramic camera,combined with the Beidou navigation grant time system,a method was proposed which designed a time synchronization device to provide space-time registration information for vehicle-mounted measurement platforms that integrate LiDAR,inertial navigation system,panoramic camera and other mapping sensors.The vehicle-based mobile measurement system with full independent intellectual property rights was taken as the research object.Through this measurement system the LiDAR point cloud data was collected.Using the designed time synchronization device,the prepared upper software were combined with Beidou satellite navigation system for accurate time synchronization.Finally,the accuracy of time synchronization reaches 0.1μs,which verifies the feasibility of the design method of time synchronization device.