基于特征点位置约束的三维激光移动测量位姿改正方法

A pose correction method for 3D laser mobile measurement based on feature point position constraints

准确的导航定位信息是激光移动测量系统获取高精度点云的基础,但导航定位系统在短时段失效情况下会导致观测点位置信息不准确,从而无法获得准确的点云数据。为此,提出一种基于特征点位置约束的激光移动测量位姿改正方法,利用导航定位系统失效时段前后测量得到的少量特征点位置信息,构建基于不同时刻特征点配准的位姿改正模型,将导航定位系统失效时刻的观测点位置和姿态作为待估参数进行最小二乘解算,实现位姿参数恢复和点云重构。结果表明,采用基于特征点位置约束的位姿改正方法,导航定位系统短时段失效情况下的点云坐标中误差从米级改正到了分米级,对于提升组合导航系统稳定性和点云移动测量精度有重要的参考价值。

Accurate navigation and positioning information is the basis for the laser mobile measurement system to obtain high-precision point cloud.However,the short-time failure of the navigation and positioning system will lead to inaccurate position information of observation points so that accurate point cloud data cannot be obtained.Therefore,a pose correction method for laser mobile measurement based on the constraint of feature point position was proposed.By using a small amount of feature point position information measured before and after the failure of the navigation and positioning system,a pose correction model based on the registration of feature points at different times was constructed.The position and posture of the observation point at the time of the failure of the navigation and positioning system were used as estimated parameters for least square calculation,to achieve the recovery of pose parameters and the reconstruction of point cloud.The vehicle-mounted laser mobile measurement data were used for experimental analysis.The results show that the proposed method can correct the error of point cloud coordinates in the case of short-term failure of the navigation and positioning system from the meter level to the decimeter level and has important reference value for improving the stability of the integrated navigation system and the accuracy of point cloud mobile measurement.