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基于3D激光雷达的无人水面艇海上目标检测 被引量:28
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作者 李小毛 张鑫 +2 位作者 王文涛 瞿栋 祝川 《上海大学学报(自然科学版)》 CAS CSCD 北大核心 2017年第1期27-36,共10页
无人水面艇(unmanned surface vehicle,USV)实现自主导航避障需要实时感知周围的环境信息,检测出威胁无人水面艇航行的障碍物,而3D激光雷达在无人系统障碍检测中起重要作用.提出了一种基于3D激光雷达的障碍检测算法,即将一个周期内的3D... 无人水面艇(unmanned surface vehicle,USV)实现自主导航避障需要实时感知周围的环境信息,检测出威胁无人水面艇航行的障碍物,而3D激光雷达在无人系统障碍检测中起重要作用.提出了一种基于3D激光雷达的障碍检测算法,即将一个周期内的3D激光点云投影到2.5D栅格地图中,对障碍物进行聚类分割;对栅格中的原始点云数据进行特征提取,表示为椭圆障碍物.而多帧激光数据采用最近邻数据关联识别出其中的动态障碍物,并用卡尔曼滤波实时跟踪.基于电子海图的仿真激光数据验证了该方法在无人水面艇障碍检测中的有效性. 展开更多
关键词 无人水面艇 激光雷达 障碍检测 栅格地图 椭圆表示
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双波长双视场米散射激光雷达 被引量:12
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作者 钟志庆 刘博 +5 位作者 范爱媛 戚福弟 王珍珠 黄威 岳古明 周军 《大气与环境光学学报》 CAS 2008年第3期173-178,共6页
介绍了一台双波长双视场米散射激光雷达,采用双接收通道分别用于高低层532 nm及1064 nm的同时探测,每个通道有各自独立的视场,可以兼顾低层大视场角低探测盲区和高层小视场角高探测高度的要求.该雷达系统能够自动连续探测532 nm及1064 n... 介绍了一台双波长双视场米散射激光雷达,采用双接收通道分别用于高低层532 nm及1064 nm的同时探测,每个通道有各自独立的视场,可以兼顾低层大视场角低探测盲区和高层小视场角高探测高度的要求.该雷达系统能够自动连续探测532 nm及1064 nm大气气溶胶消光系数的垂直廓线和连续分布,并通过分析能够获得大气气溶胶的各种光学参数。对比验证实验表明,双波长双视场米散射激光雷达数据可靠,性能稳定。 展开更多
关键词 激光雷达 大气气溶胶 盲区 消光系数
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Indo-Japanese Lidar Observations of the Tropical Middle Atmosphere During 1998 and 1999 被引量:1
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作者 Y.BHAVANI KUMAR C.NAGESWARA RAJU M. KRISHNAIAH 《Advances in Atmospheric Sciences》 SCIE CAS CSCD 2006年第5期711-725,共15页
A state-of-the art Rayleigh and Mie backscattering lidar was set up at Gadanki (13.5°N, 79.2°E) in the Tropics in India. Using this system, regular observations of upper tropospheric clouds, aerosols at st... A state-of-the art Rayleigh and Mie backscattering lidar was set up at Gadanki (13.5°N, 79.2°E) in the Tropics in India. Using this system, regular observations of upper tropospheric clouds, aerosols at stratospheric heights and atmospheric temperatures in the range from 30 to 80 km were made. In this paper, the data collected during the period of 1998-99 were selected for systematic investigation and presentation. The Mie scattering lidar system is capable of measuring the degree of depolarization in the laser backscattering. Several tropical cirrus cloud structures have been identified with low to moderate ice content. Occasionally, thin sub-visible cirrus clouds in the vicinity of the tropical tropopause have also been detected. The aerosol measurements in the upper troposphere and lower stratosphere show low aerosol content with a vertical distribution up to 35 km altitude. Rayleigh-scattering lidar observations reveal that at the tropical site, temperature inversion occurs at mesospheric heights. Atmospheric waves have induced perturbations in the temperatures for several times at the upper stratospheric heights. A significant warming in the lower mesosphere associated with a consistent cooling in the upper stratospheric heights is observed particularly in the winter season during the events of sudden stratospheric warming (ssw). 展开更多
关键词 backscatter lidax tropical atmosphere CIRRUS stratospheric aerosol gravity waves middleatmospheric temperatures upper stratospheric cooling
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