基于体素的激光雷达与组合导航联合标定方法

A Joint Calibration Method of LIDAR and Integrated Navigation Based on Voxel

针对激光雷达和组合导航系统之间的联合标定问题,设计了一种基于高精度地面控制点的标定方法。首先在地面建立若干控制点,构建成一个高精度的标定控制场,采用激光雷达以单点指向的方式采集并记录标定数据,通过坐标转换模型解算出粗标定结果,然后以车载动态方式获取建筑物点云数据,将粗标定结果作为初值,依据体素最小原则对粗标定结果进行选代优化,最终得到精标定结果。车载试验结果表明经过粗一精标定后,标定精度能够从30cm提升到10cm左右。

Aiming at the problem of joint calibration between LIDAR and integrated navigation system,a calibra-tion method based on high precision ground control points is designed.Firstly,several control points are estab-lished on the ground to construct a high-precision calibration control field.The calibration data is collected and recorded by LIDAR with single point pointing,and the coarse calibration results are calculated by coordinate transformation model.Then,the building point cloud data is obtained in vehicle-mounted dynamic mode,and the coarse calibration result is taken as the initial value.The the coarse calibration result is iteratively optimized ac-cording to the voxel minimum principle,and the fine calibration result is finally obtained.The on-board test re-sults show that the calibration accuracy can be increased from 30 cm to 10 cm after coarse to fine calibration.