基于传感器联合测量的车载POS精度检测系统设计

Design of vehicle-based POS performance evaluation system based on multi-sensors' composite measurements

POS系统是移动测量系统的重要组成部分,其位置姿态精度一直受到广泛关注。结合全站仪、激光跟踪仪、GNSS授时装置等传感器,设计了动态精度检测系统,开展了POS系统动态精度检测方法研究。主要采用单次测量时间统计、平滑曲线拟合等方法探测检测系统的测量误差,并在误差剔除的基础上,结合ICP算法,利用跟踪仪高精度测量数据,对全站仪数据进行修正,提高检测系统整体测量精度。最后,在某实验区,进行车载POS系统动态跟踪实验,分别采用整体轨迹对比和实时点位对比方法进行POS系统事后处理精度检测和实时导航精度检测。实验结果表明:采用该种检测方法,动态检测系统能检测出POS实时和事后处理的动态定位精度。

position and orientation system（ POS） is one of the most important components in mobile mapping system,whose position and orientation accuracy attracts considerable attention. By using total station,laser tracker and GNSS timed device,this paper designed a compound dynamic accuracy testing system. The measurement method of dynamic position accuracy testing for POS is also focused,which utilizes the time statistics of single measurement and curve fitting to calculate the measurement error. After eliminating gross error from the raw observation data,the ICP（ iterative closest point） algorithm is used for modifying the trajectory of total-station system. As a result,the dynamic measurement can be enhanced by comparing the high-accuracy trajectory of laser tracking system and the totalstation system. Outdoor experiments are carried out to verify the proposed calibration method,in which the overall trajectory comparison and real-time comparison are applied for testing the dynamic position accuracy of POS. Experimental results indicate that the designed evaluation system can be used for testing both real-time and post-processed dynamic position accuracy of POS.