单线激光雷达与GNSS/INS的空间重构

Space reconstruction using single-line LIDAR and GNSS/INS fused data

为了解决多线激光雷达在三维空间重构任务中数据吞吐量过大导致运算负担过重以及扫描俯仰范围有限的问题,本文提出了一种利用单线激光雷达与惯性测量单元GNSS/INS相互结合的多站点扫描空间重构方案及相应解算方法。首先使用单线激光雷达扫描待测空间获取三维尺度信息,然后将点云数据与对应的任意方向的航向角相结合,再利用四元数姿态解算获取各站点扫描的点云图像。为提高计算效率,使用迭代最近点算法实现站点间点云配准时,对待匹配点云数据筛选并更新。实验结果表明在保留点云数字特征前提下,单线激光雷达与GNSS/INS系统能够提高76%的运算速率。本文提出的硬件方案和解算方法不但能够实现较高的配准精度,与多线激光雷达方案相比工程成本也得到显著下降。

In a three-dimensional reconstruction task,the pitch range of the multi-layer light detection and ranging(LIDAR)is limited,and the data account of the multi-layer LIDAR is large,which increases the computational burden.A novel method through uniting a single-layer LIDAR and the inertial measurement using a global navigation satellite system/inertial navigation system(GNSS/INS)was developed in this study to solve the problems mentioned above.A single-layer LIDAR scanning feedback plane was used to obtain the depth information,and then a quaternion attitude solution was used to obtain the point cloud image scanned by each station.When using the iterative closest point algorithm to achieve the point cloud registration between sites,the matching point cloud data was filtered and updated to improve the calculation efficiency.The experimental results show that the single-layer LIDAR and the GNSS/INS system can increase the computation rate by 76%,while preserving the digital characteristics of the point cloud.Therefore,the space reconstruction technique using the single-layer LIDAR and GNSS/INS has a similar high registration accuracy as the multi-layer LIDAR three-dimensional reconstruction system and effectively reduces the engineering cost.