基于空间前方交会的船载水上下一体化测量系统多传感器坐标转换关系标定研究

Multi-sensor Coordinates Transformation Relation’s Calibration of Shipborne Overwater and Underwater Integrated Surveying System Based on Space Intersection

船载水上下一体化三维地形测量系统高度集成了卫星定位接收机、多波束测深仪、激光扫描仪、惯性测量单元等传感器。由于各传感器在集成平台上安置位置及数据采集参照的坐标系各不相同,为确保数据采集过程中各传感器之间数据更好的融合拼接,地形数据采集前需对各传感器之间坐标转换关系进行检校标定工作。针对该问题,依托精密测角仪器,研究基于测角空间前方交会原理的非接触高精度检校标定方法,并在此基础上探索提高传感器特征点精度的观测手段和提高传感器之间坐标转换精度的公共点布设方式。该方法观测结果不仅满足系统1∶2000大比例尺水上水下一体化地形测量需要,而且可以作为初始检校参数,应用于依托检校场的更高精度比例尺测量的系统多传感器坐标系转换参数的精确校准中,提高检校效率。

The shipboard overwater and underwater 3D topographic surveying system highly integrates advanced sensors,such as satellite positioning receiver,multi-beam bathymetry,laser scanner,inertial measurement unit,etc.Since the positions of the sensors in the integrated platform and the coordinate system referenced for data acquisition are diverse for each device,the coordinate conversion relationship between the sensors should be calibrated before the terrain data acquisition,in order to ensure a better fusion and splicing of the data between the sensors during the data acquisition process.Based on the precise theodolite,a non-contact high-accuracy calibration method based on the goniometric space intersection principle has been studied to address this problem.Then on this basis,an observation method to improve the accuracy of sensor feature points and a common points layout method to improve the coordinate conversion accuracy between sensors are explored.The calibrated result satisfy the 1∶2000 scale surveying technical specification requirements of overwater and underwater integrated topographic,and can be used as the initial calibration parameter.Relying on the standardization site,it is applied to the transformation parameters precise calibration of the multi-sensor coordinate system that accords the requirements of higher-precision scale measurement and improves the calibration efficiency.