无人机激光扫描测绘系统误差的模型检校技术及实验研究

该文提出一种检验和校正无人机激光扫描测绘系统误差的技术,并设计实验对该技术的误差检校效果进行验证。该技术的实现方法是根据系统主要误差构建基于航带平差的差异分析模型。无人机航测获得扫描数据后,使用迭代最近点(ICP)算法对采集到的数据进行航带点云配准,得到航带平差。将平差参数输入到差异分析模型中解算出系统误差,利用解算结果补偿系统、消除误差,从而达到系统校正的效果。从实验结果来看,使用系统误差模型校验技术后,初始点云图和校准后的新点云图在不同方向的航带点云颜色深浅一致,说明高程误差被消除。

In this paper,a technique for checking and correcting the errors of laser scanning surveying and mapping system of unmanned aerial vehicles(UAVs)is proposed,and experiments are designed to verify the error detection effect of this technique.The realization method of this technology is to build a difference analysis model based on the adjustment of flight belt according to the main errors of the system.After the UAV aerial survey obtained the scanning data,ICP algorithm was used to register the collected data and obtain the adjustment of the band.The adjustment parameters are input into the difference analysis model to solve the system error,and the solution results are used to compensate the system and eliminate the error,so as to achieve the effect of system correction.According to the experimental results,after using the system error model verification technology,the color depth of the point clouds in different directions of the navigation belt is the same between the initial point cloud image and the calibrated new point cloud image,indicating that the elevation error is eliminated.