机载平台振动对激光雷达激光束指向精度的影响

Effect of Airborne LiDAR Platform＇s Vibration on Laser Pointing Accuracy

为了有效地减小机载平台振动对激光雷达（LiDAR）测量数据的精度的影响，针对机载平台振动的特点研究了平台振动引起的激光束指向误差的传递模型。将平台的振动分解为线振动和角振动，分别建立了沿x、y和z三个方向上的线振动的误差传递模型，以及绕三个轴的俯仰、侧滚和偏航角振动的误差传递模型，分析讨论了各向线振动和角振动对定位精度的影响规律。通过仿真发现载机x向线振动仅在坡度存在时才会产生y和z向的定位误差；而y和z向线振动不影响x向定位精度。载机角振动对水平定位精度影响较大；y和z向定位精度仅受侧滚角振动的影响；俯仰和偏航角振动主要产生z向的定位误差。

In order to reduce the influence of airborne platform＇s vibration on the accuracy of measurements, the propagation models are established for laser beam pointing error of airborne light detection and ranging （LiDAR）. The platform＇s vibration is decomposed into linear-vibration and angular-vibration. Then error propagation models for the two types of vibration are built respectively. Rules of that positioning accuracy influenced by linear-vibration and angular-vibration are also studied. The results show that linear-vibration of x would bring positioning error of y and z only when there is a slope on the measured ground, while the positioning accuracy of x is isolated from the other two directions. Angular-vibration has a significant influence on the accuracy of horizontal positioning. Positioning accuracies of Y and z are only influenced by rolling vibration, while the pitching and yawing vibration are two main source of positioning error of x.