车载测量系统中两传感器相对位置关系的确定

Determination of the Relation Between Two Sensors in Vehicle-Carrier Surveying System

"近景目标三维测量技术"是主要研制一套集GPS、LS、CCD相机等多种传感器为一体的车载三维测量系统。为使该系统完成工作目标 ,需要实时确定扫描仪的姿态。为此 ,以GPS接收机相位中心平台为基础 ,建立一个平台坐标系 ,以扫描仪竖轴和扫描主轴为坐标轴建立扫描坐标系。由于车载平台、扫描仪的几何尺寸和形状的限制 ,联测点的选取是关键 ,不仅要考虑其分布 ,而且要考虑其坐标值的获取精度。本文利用两种观测系统确定联测点在平台坐标系中的坐标 ,借助坐标转换模型确定平台与扫描仪之间的相对位置关系 ,在联测点分布与坐标原点构成的几何图形不理想的情况下 ,引用坐标差分计算方法 ,提高了坐标参数的可靠性。

The'close shot target 3\|D measuring technology'is a imed at developing the vehicle\|carrier 3\|D survey system of such sensors as in tegrated GPS、LS、CCD and so on.It needs to determine LS attitude for the work g oa l,therefore,there are necessary to set up a LS coordinate frame on the base of b oth upright\|axis and principal axis of that.Because of the limitation of platfo rm and dimension of LS,it is important to select join\|points,in which both the distribution and the values should be considered.Two kinds of observation system s are used here to solute the joint\|point values in the platform coordinate.And the relation between platform and LS is found out by virtue of coordinate trans form module.Furthermore,the method of cordinate difference is also used to impro ve the parameter reliability,especially in the imperfect distribution of joint\| points and coordinate origin.