背包式移动测量系统传感器间数据融合研究

Research on fusion technology of observation data between sensors in backpack-type mobile measurement system

在开发包含两台Velodyne VLP-16小型三维激光扫描仪和一个GX5小型惯导的背包式移动测量系统过程中,为实现各传感器之间对采集数据更好的信息融合,基于Leica Axyz经纬仪工业测量系统,探索了对各传感器单体标定建立单体坐标系,对各传感器集成后进行整体标定,确定它们之间的相对位置和坐标系转换关系的方法,实验结果表明在使用室外检校场检校前,先使用工业测量系统标定出一组高精度参数作为初始参数,可以提高传感器之间数据融合精度,减少迭代次数。

In the development of a backpack-type mobile measurement system including two Velodyne VLP-16small three-dimensional laser scanners and a GX5small inertial navigation system,in order to achieve better information fusion of the collected data between the sensors,Leica Axyz theodolite industrial measurement The system explores the method of establishing a single coordinate system for the individual calibration of each sensor,the overall calibration of each sensor after integration,and determining the relative position between them and the coordinate system conversion relationship.The experimental results show that the outdoor calibration field is used Before,an industrial measurement system was used to calibrate a set of high-precision parameters as initial parameters,which can improve the accuracy of data fusion between sensors and reduce the number of iterations.