基于参考面约束的车载移动测量系统安置参数检校方法

Boresight parameters calibration method of VMLS system based on reference planar features constraint

车载移动测量系统是一种多传感器高度集成的测量设备,系统精度不仅取决于集成的传感器精度,还受激光扫描仪与组合导航系统之间安置参数检校的准确度影响。考虑到安置参数检校方法的便捷、有效性以及系统最终精度评估,提出一种基于参考面特征约束的车载移动测量系统安置参数检校方法。该方法根据包含系统安置参数的激光扫描点定位方程,利用参考面上的激光扫描点到参考面方程距离偏差最小作为约束条件,同时考虑到安置参数旋转量与偏移量间存在相关性,采用分步解算方法将旋转和平移量进行分开求解。最后,通过采集检校场和外场数据进行系统内符合和外符合精度评估。实验结果表明:该方法能够有效的消除安置误差影响,检校后内符合精度为0.007 m,外符合精度为0.024 m。

The vehicle mobile laser scanning(VMLS)system is a highly integrated multi-sensor measurement system.The accuracy of the VMLS system depends on the accuracy of not only the integrated sensor,but also the calibration of boresight parameters between the laser scanner and the integrated navigation system.Considering the convenience and effectiveness of the calibration method of the boresight parameters and the accuracy evaluation of the VMLS system,a calibrating method of the boresight parameters of the VMLS system based on the reference planar features constraint was proposed.The proposed method was based on the direct georeferencing of lidar measurements including the boresight parameters.The equation used the minimum distance deviation from laser footpoint to reference plane as the constraint.In addition,considering the correlation between rotation and offset amount of the boresight parameters,the stepwise solving method was composed to separate boresight angle and offset parameters.Finally,through the datum acquired from calibration field and check fields,the internal and external accuracy of VMLS system were evaluated.The experimental results show that the proposed method can effectively eliminate the influence of boresight errors.After calibration,the internal accuracy is 0.007 m and the external accuracy is 0.024 m.