无人机载激光测深仿真系统研究

Research on Simulation System of Laser Bathymetry for UAV

基于卵形扫描式无人机载激光测深系统的结构,对激光测深系统在海面上的激光脚点扫描轨迹进行几何建模。推导了激光光束通过扫描反射镜反射在大气、海水中的方向矢量,结合GPS和区域无线定位系统提供的位置姿态数据,推导出海面及海底激光脚点的扫描轨迹。最终通过仿真分析验证了上述方法的可行性与正确性。

Based on the structure of laser bathymetry system of oval scanning UAV,the scanning track of the laser point on the sea surface of the laser bathymetry system is geometrically modeled.The direction vector of laser beam reflected in the atmosphere and sea water through the reflector are deduced,and the scanning track of laser point on the sea surface and seabed is deduced by combining the position and attitude data provided by GPS and the regional wireless positioning system. The feasibility and correctness of the above method are verified by simulation analysis.