【摘要】：車載激光雷達(dá)(LiDAR, Light Detection And Ranging)移動(dòng)測(cè)量系統(tǒng)是一種主動(dòng)式的測(cè)量系統(tǒng),它是集激光測(cè)距技術(shù)、計(jì)算機(jī)技術(shù)、GNSS定位技術(shù)、慣性導(dǎo)航技術(shù)(INS)、CCD技術(shù)等高新技術(shù)于一體的現(xiàn)代測(cè)量裝備,具有地面控制少、自動(dòng)化程度高、作業(yè)周期短等特點(diǎn)。由于車載LiDAR在三維數(shù)據(jù)獲取、道路資產(chǎn)普查、數(shù)字城市三維建模等方面具有巨大優(yōu)勢(shì),并且機(jī)動(dòng)性強(qiáng)、成本費(fèi)用低,已經(jīng)在各個(gè)領(lǐng)域得到廣泛的應(yīng)用。 車載LiDAR的作業(yè)精度受多方面因素的影響,除了激光測(cè)距測(cè)角誤差、IMU測(cè)姿誤差、各種傳感器的偏移矢量等系統(tǒng)誤差外,影響最大的是由復(fù)雜的城市環(huán)境所造成的GPS信號(hào)失鎖、多路徑效應(yīng)等引起的組合導(dǎo)航精度下降。基于GPS失鎖情況下的組合導(dǎo)航精度下降問(wèn)題,文章針對(duì)里程計(jì)在提高車載LiDAR組合導(dǎo)航精度的應(yīng)用進(jìn)行了研究,具體內(nèi)容如下： 1.基于霍爾元件的里程計(jì)構(gòu)建技術(shù)研究。 里程計(jì)作為車載LiDAR組合導(dǎo)航中重要的傳感器,主要負(fù)責(zé)記錄車輛的里程信息,通過(guò)將霍爾接近開(kāi)關(guān)安裝在車體上作為靜子,強(qiáng)磁體安裝在輪轂上作為轉(zhuǎn)子,完成了對(duì)車載里程計(jì)構(gòu)建,并通過(guò)實(shí)驗(yàn)對(duì)霍爾里程計(jì)的脈沖當(dāng)量及相對(duì)于IMU的偏移矢量進(jìn)行標(biāo)定。 2.里程計(jì)在組合導(dǎo)航中的應(yīng)用研究。 對(duì)里程計(jì)在系統(tǒng)平面精度、影像姿態(tài)等方面的影響進(jìn)行實(shí)驗(yàn)分析,得出結(jié)論：在一定程度上高分辨率的里程計(jì)要優(yōu)于低分辨率的里程計(jì)；GPS失鎖2分鐘時(shí),使用里程計(jì)可將車載LiDAR的平面偏差控制在0.6m以內(nèi)；同時(shí)里程計(jì)對(duì)影像姿態(tài)有一定的修正作用。 3.提高組合導(dǎo)航精度方法研究 在實(shí)際作業(yè)過(guò)程中,還需要一些特殊手段來(lái)提高車載LiDAR的組合導(dǎo)航精度,實(shí)驗(yàn)證明使用里程計(jì)進(jìn)行零速修正、使用航跡點(diǎn)控制軌跡漂移等能有效控制在GPS失鎖時(shí)的組合導(dǎo)航精度,對(duì)數(shù)據(jù)采集路線進(jìn)行規(guī)劃也在一定程度上能夠保證數(shù)據(jù)精度,提高作業(yè)效率。
[Abstract]:The (LiDAR, Light Detection And Ranging) mobile measurement system of vehicle lidar is a kind of active measurement system. It is a modern measuring equipment which integrates high and new technologies such as laser ranging technology, computer technology, (INS) technology, inertial navigation technology and so on. Has the ground control small, the automation degree is high, the work cycle is short and so on characteristic. Vehicle LiDAR has been widely used in many fields because of its great advantages in 3D data acquisition, road asset survey, 3D modeling of digital city, and its mobility and low cost. The operational accuracy of LiDAR is affected by many factors. Besides the errors of laser ranging and attitude measurement, and the offset vector of various sensors, the most important influence is the loss of lock of GPS signal caused by complex urban environment. The accuracy of integrated navigation is reduced due to multipath effect. Based on the decline of integrated navigation accuracy in the case of GPS lost lock, this paper studies the application of mileage meter in improving the precision of vehicle LiDAR integrated navigation. The specific contents are as follows: 1. Research on building technology of odometer based on Hall element. As an important sensor in the vehicle LiDAR integrated navigation, the mileometer is mainly responsible for recording the mileage information of the vehicle. By installing the Hall proximity switch on the car body as the stator, the strong magnet is installed on the hub as the rotor. The vehicle odometer is constructed and the pulse equivalent of Hall odometer and the offset vector relative to IMU are calibrated by experiments. 2. Research on the Application of mileage Meter in Integrated Navigation. The effects of mileometer on system plane precision and image attitude are analyzed experimentally. It is concluded that the high resolution odometer is better than the low resolution mileometer when GPS loses lock for 2 minutes to a certain extent. The plane deviation of the vehicle LiDAR can be controlled within 0.6 m by using the mileometer and the image attitude can be corrected by the mileage meter. 3. Research on the method of improving the accuracy of Integrated Navigation in practice, some special methods are needed to improve the accuracy of integrated navigation of vehicle LiDAR. It is proved by experiments that the mileage meter is used for zero speed correction. Using track points to control trajectory drift can effectively control the integrated navigation accuracy when GPS is out of lock. Planning the data acquisition route to a certain extent can also ensure the data accuracy and improve the operation efficiency.
【學(xué)位授予單位】：首都師范大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2013
【分類號(hào)】：P225

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