基于IGS站组网的移动激光雷达测量系统整体检校

Overall calibration of mobile lidar measurement system based on IGS station networking

针对车载移动测量系统中激光扫描仪和载体坐标系之间存在的位置和姿态偏差,在结合常规特征点、特征面检校方法基础上,本文提出了一种带有误差改正数的位置和姿态检校方法。利用TLS获取的车载系统整体点云模型和传感器固有几何属性,获取传感器之间相对关系初值,在此基础上引入误差改正数,构建误差改正模型。在与IGS站联测的检校场中借助平面、球形标靶和平面反射标志等特征,采用最小二乘法迭代法计算误差改正数最优解,从而实现传感器快速检校。试验结果表明,该方法切实可行,检校后点云平面绝对精度和高程绝对精度分别为0.043、0.072 m,相对精度为0.018 m,满足移动测量系统数据获取的精度要求,对促进车载移动测量技术发展和应用具有重要意义。

Aiming at the position and attitude deviations between the laser scanner and the carrier coordinate system in the vehiclemounted mobile measurement system,a position and attitude calibration method with error correction numbers is proposed based on the combination of conventional feature points and feature surface calibration methods. Use TLS to obtain the overall point cloud model of the vehicle system and the sensor’s inherent geometric properties to obtain the initial value of the relative relationship between the sensors. Based on this,an error correction number is introduced to construct the error correction model. Spherical target and plane reflection mark,the least square method iterative method is used to calculate the optimal solution of the error correction number,so as to achieve rapid sensor calibration. The experimental results show that the method is feasible. After calibration,the absolute accuracy of the point cloud plane and absolute elevation are 0.043 m and 0.072 m,respectively,and the relative accuracy is 0.018 m,which meets the accuracy requirements for data acquisition of mobile measurement systems. Development and application are of great significance.