CN108152802A - A kind of Review for Helicopter laser radar three-dimension altitude angle compensation method and device - Google Patents
A kind of Review for Helicopter laser radar three-dimension altitude angle compensation method and device Download PDFInfo
- Publication number
- CN108152802A CN108152802A CN201810009786.1A CN201810009786A CN108152802A CN 108152802 A CN108152802 A CN 108152802A CN 201810009786 A CN201810009786 A CN 201810009786A CN 108152802 A CN108152802 A CN 108152802A
- Authority
- CN
- China
- Prior art keywords
- axis
- large scale
- helicopter
- around
- rotation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
Abstract
Laser scanning is influenced for compensation helicopter load platform attitude angle variation, increases a three-dimension altitude angle compensation device on airborne platform.The compensation device fixes one side large scale speculum using magnetic column universal bearing, and center can be rotated around x-axis and y-axis simultaneously.Large scale speculum is controlled to be rotated around the corner of x-axis and y-axis using stepper motor driving around z-axis using two screw stepper motor linear drives.In addition, accurately controlling the rotational angle of y-axis motor support bar using direct current torque motor and rack pinion, the rotation coupling of x-axis and y-axis is eliminated.The airborne platform attitude angle disturbed value measured in real time according to gyroscope, compensation device control large scale speculum rotates backward the half of attitude angle disturbed value rotating around three axis, it can be corrected back the laser beam for influencing and deflecting is changed by helicopter attitude angle in exit direction when being disturbed without attitude angle, it realizes the real-time compensation disturbed to three-dimension altitude angle, improves airborne laser radar measurement accuracy.
Description
Technical field
The present invention relates to helicopter payload platform 3 d pose angular oscillation and the variation of flight attitude angle to airborne laser radar
Point cloud measures real-time, the high-accuracy compensation technique study of adverse effect.
Background technology
Laser radar has many advantages, such as high measurement accuracy, fine time and spatial resolution, remote measurement distance, and goes straight up to
Machine can do low latitude, low speed and the compound actions such as the constant flight of heading and lifting, hovering, pitching, deflection, have motor-driven spirit
The advantages of living, it is very suitable for the flight measurement to various complicated landforms.Therefore, Review for Helicopter laser radar is in geodesic survey, gloomy
Woods exploration, City Modeling, Disaster Assessment etc. obtain increasingly extensive application.
In the course of work of airborne laser radar, there is higher requirement for the stability of airborne platform, usually require that
Helicopter carries out unaccelerated flight, and airborne platform coordinate system does not have posture angular deflection relative to earth axes, so as to
So that the laser point cloud coverage area boundaries rule and even density that obtain.By the interpolated processing of the laser point cloud of high quality and song
The tested landform digital surface model error that face is fitted and obtains is smaller, can improve three-dimensional imaging precision, meet ground survey
Resolution requirement.
In the airborne laser radar real-time compensation method of existing achievable airborne platform attitude angle variation, patent
ZL201010183492.4 proposes a kind of pitch angle variation real-time compensation method of achievable airborne laser radar payload platform, specially
Sharp ZL201010180527.9 proposes a kind of roll angle variation real-time compensation method of achievable airborne laser radar payload platform.
In the method for realization hitherto, the posture angle compensation in uniaxial or two axis directions can only be realized, but without can be achieved at the same time
The real-time compensation method and device of three-dimension altitude angle variation.Therefore, it is necessary to a kind of compensation device is devised, it can be achieved that laser thunder
When being compensated while disturbance up to system three-dimension altitude angle, while compensation three-dimension altitude angle disturbance can be eliminated compensation device each shaft it
Between control coupled relation.
Invention content
Based on what is do not influenced in current various documents on three-dimension altitude angle disturbance on Review for Helicopter lidar measurement still
Real-time compensation method and device, the present invention provides a kind of Review for Helicopter laser radar three-dimension altitude angle compensation method and device,
The complete and real-time compensation disturbed to Review for Helicopter laser radar three-dimension altitude angle can be achieved, mainly there is following innovation：One
It is that linear drives are carried out using screw stepper motor driving thread slider, large scale speculum is pushed to pass through around central axis
Machinery subdivision improves kinematic accuracy, is controlled instead of conventional rotary motor, the mechanical structure of compensation device is improved, so as to carry
High space availability ratio, convenient for the installation of large scale speculum, increases the detection range range of Review for Helicopter laser radar, and
Enhance practicability；Second is that using magnetic universal bearing mechanical structure, traditional three-axle table structure, fixed large scale reflection are substituted
It can make it while mirror rotation center around two axis flexible rotating of x-axis and y-axis；Third, using direct current torque motor fit circular arc rack
The rotation of orbits controlling y-axis screw stepper motor support shaft, plane where making y-axis screw stepper motor and large scale speculum
Y-axis direction, which remains, to be mutually perpendicular to, so as to which the rotation eliminated between x-axis and y-axis couples；Fourth, using z-axis stepper motor
Large scale mirror body is driven to rotate the compensation for realizing yaw angle around z-axis, it is achieved thereby that three appearances of airborne laser radar
It is compensated while state angle rather than only compensates an axis or two axis.
A kind of Review for Helicopter laser radar three-dimension altitude angle compensation method proposed by the present invention and device, which is characterized in that
An apparatus for correcting to the laser pulse beam angle of emergence has been installed additional in pure helicopter carries laser radar system, passes through the correction
Device will be influenced by helicopter payload platform three-dimension altitude angle and be directed toward the laser pulse beam deflected, corrected back without attitude angle
In preferable exit direction during disturbance, it is achieved thereby that the real-time compensation of airborne laser radar three-dimension altitude angle disturbance, eliminate
The disturbance of helicopter attitude angle effectively improves laser point cloud quality to the adverse effect of the laser point cloud of acquisition.
Wherein, increase the Review for Helicopter laser radar three-dimension altitude angle compensation device after compensation device, it is characterised in that packet
Include helicopter payload platform（1）, high-frequency laser pluses rangefinder（2）, scanning pendulum len system（3）, three-dimensional high-precision gyroscope
（4）, three-dimension altitude angle compensation device（5）, tested landform（6）.Wherein, high-frequency laser pluses rangefinder（2）, scanning pendulum len system
（3）, three-dimensional high-precision gyroscope（4）, three-dimension altitude angle compensation device（5）It is fixedly mounted on the helicopter payload platform
（1）On.By the high-frequency laser pluses rangefinder（2）Emit laser pulse beam, through the scanning pendulum len system（3）It is penetrated after reflection
To the three-dimension altitude angle compensation device（5）, through the three-dimension altitude angle compensation device（5）On large scale speculum（501）
Landform is tested after reflection described in directive（6）.By the three-dimensional high-precision gyroscope（4）Acquire the helicopter payload platform（1）
Real-time attitude angle noisy data, the three-dimension altitude angle compensation device is sent to by serial communication（5）Three-dimension altitude angle
Compensation device controller（516）In, control the large scale speculum（501）It is done around three axis directions and disturbs phase negative side with attitude angle
To rotation.
Wherein, in the helicopter payload platform（1）Around the roll angle of x-axis rotation and around the pitching angular direction of y-axis rotation
On, the large scale speculum（501）The roll angle of actual measurement and the half of pitch angle numerical value are rotated backward rotating around x-axis and y-axis；
And in the helicopter payload platform（1）On the yaw angular direction of z-axis rotation, the large scale speculum（501）It is anti-around z-axis
The angle identical with actual measurement yaw angle numerical value to rotation, so as to fulfill the real-time of Review for Helicopter laser radar three-dimension altitude angle disturbance
Compensation, makes the high-frequency laser pluses rangefinder（2）Scanning pendulum len system described in the laser pulse Shu Jing of transmitting（3）After reflection
Outgoing is directed toward from the helicopter payload platform（1）The adverse effect of three-dimension altitude angle disturbance.
Wherein, the large scale speculum（501）Length and width be 100mm, can effectively be obtained using large scale speculum
The tested landform（6）The laser echo signal of reflection is conducive to increase the detection range model of Review for Helicopter laser radar system
It encloses；The large scale speculum（501）It is fixedly mounted on stainless steel hemisphere（525）On, the large scale speculum（501）'s
Rotation center and the stainless steel hemisphere（525）The centre of sphere coincide.Using magnetic steel concave spherical surface support post（515）By institute
State stainless steel hemisphere（525）Spherical surface be tightly sucked, the two formed slide sphere-contact, make the stainless steel hemisphere
（525）It can be freely rotated around three axis, then the motion structure forms a magnetic spherical surface universal bearing.Since the large scale reflects
Mirror（501）Rotation center and the stainless steel hemisphere（525）The centre of sphere coincide, therefore when the stainless steel hemisphere
（525）With the magnetic steel concave spherical surface support post（515）The magnetic spherical surface universal bearing of composition around three shaft rotations it is dynamic when, it is described big
Size speculum（501）Rotation center spatial position relative to the helicopter payload platform（1）Remain constant.
Wherein, the large scale speculum（501）By four mirror support bars（526）Drive rotation, the mirror support
Bar（526）It is manufactured using titanium alloy material, is vertically uniformly distributed in a plane around z-axis two-by-two, and with the stainless steel partly
Sphere（525）Tangent plane secure weld.Four mirror support bars（526）End installation bulb oscillating bearing.It is described
Magnetic steel concave spherical surface support post（515）Lower end and circular base slab（514）Secure weld.The circular base slab（514）
Two arc rack tracks of installation below the mirror support bar in the same direction with x-axis（511）, under the mirror support bar in the same direction with y-axis
The uniaxial connecting-rod bearing of side's installation two（517）.The large scale speculum（501）Rotation around x-axis is by x-axis screw stepping electricity
Machine（519）Drive x-axis thread slider 1（521）Guide rail 1 is oriented along x-axis（523）It moves in a straight line, with installing the x-axis screw
Stepper motor（519）On the supporting rod of supporting rod relative direction, it is mounted with x-axis thread slider 2（505）Guide rail 2 is oriented with x-axis
（503）, supporting rod passes through the uniaxial connecting-rod bearing（517）With the circular base slab（514）It is connected.The large scale reflection
Mirror（501）Rotation around y-axis is by y-axis screw stepper motor（507）Drive y-axis thread slider（502）Guide rail 1 is oriented along y-axis
（504）It moves in a straight line, with being equipped with y-axis screw stepper motor supporting rod（508）On the supporting rod of relative direction, it is mounted with
Y-axis thread slider 2（522）Guide rail 2 is oriented with y-axis（524）, supporting rod passes through uniaxial connecting-rod bearing sliding block（509）And the circle
Arc rack track（511）With the circular base slab（514）It is connected.The single shaft connecting-rod bearing sliding block（509）Pass through direct current power
Torque motor（510）Drive the y-axis screw stepper motor supporting rod（508）It is moved along arc rack track, it is ensured that y-axis screw walks
Plane where stepper motor is mutually perpendicular to large scale speculum y-axis.
Wherein, the magnetic steel concave spherical surface support post（515）With z-axis stepper motor（512）Rotation axis secure weld, and
The two has same rotation axis.The large scale speculum（501）Rotation around z-axis is by the z-axis stepper motor（512）Directly
Connect driving.The three-dimension altitude angle compensation device（5）By three-dimension altitude angle compensation device controller（516）Control；The z-axis
Stepper motor（512）With the three-dimension altitude angle compensation device controller（516）It is each attached to mounting base（513）On.It is described
Mounting base（513）Extension can be achieved in four vertical sides, form a babinet, whole system is wired up, so as to
Play protection, support and dust reduction capability.
Wherein, the three-dimension altitude angle compensation device controller（516）Using ARM（S3C2440）Controller is controlled
It realizes.The three-dimension altitude angle compensation device controller（516）The three-dimensional high-precision gyroscope is obtained by serial ports 1（4）It adopts
The helicopter attitude angle noisy data of collection, using fuzzy PID control strategy, to the large scale speculum（501）Three shaft rotations
Angle is controlled.
Wherein, by ARM（S3C2440）The D/A delivery outlets 1 of controller control the x-axis screw stepper motor（519）Driving
The x-axis thread slider 1（521）It moves in a straight line, makes the large scale speculum（501）It is rotated around x-axis to roll angle numerical value
Half, so as to which the helicopter payload platform be fully compensated（1）On rolling angular direction to lidar measurement point cloud not
Profit influences.
Wherein, by ARM（S3C2440）The D/A delivery outlets 2 of controller control the y-axis screw stepper motor（507）Driving
The y-axis thread slider（502）It moves in a straight line, makes the large scale speculum（501）It is rotated around y-axis to pitch angle numerical value
Half, so as to which the helicopter payload platform be fully compensated（1）To the unfavorable of lidar measurement point cloud on pitching angular direction
It influences.
Wherein, by ARM（S3C2440）The D/A delivery outlets 3 of controller control the z-axis stepper motor（512）Rotation, makes
The large scale speculum（501）Around the identical numerical value in z-axis rotary yaw angle, so as to which the helicopter payload platform be fully compensated
（1）To the adverse effect of lidar measurement point cloud on yaw angular direction.
Wherein, by ARM（S3C2440）The D/A delivery outlets 4 of controller control the uniaxial connecting-rod bearing sliding block（509）On
The direct current torque motor（510）Rotation, the y-axis screw stepper motor supporting rod is driven by rack pinion mode
（508）Rotation makes it keep and the large scale speculum（501）Y-axis direction is vertical, turns between x-axis and y-axis so as to eliminate
Dynamic coupling.
Description of the drawings
Fig. 1 is conventional airborne laser radar fundamental diagram.
Fig. 2 is Review for Helicopter laser radar three-dimension altitude angle compensation device compensation principle figure.
Fig. 3 is the Review for Helicopter laser radar fundamental diagram for being equipped with three-dimension altitude angle compensation device.
Fig. 4 is the mechanical construction drawing of Review for Helicopter laser radar three-dimension altitude angle compensation device.
Fig. 5 is the control system hardware architecture diagram of Review for Helicopter laser radar three-dimension altitude angle compensation device.
Specific embodiment
Patent Example of the present invention is described in further detail below in conjunction with attached drawing.
Fig. 1 is that pure helicopter carries laser radar fundamental diagram.Pure helicopter is described in figure and carries laser radar system
The basic structure of system.Wherein,（1）For helicopter payload platform,（2）For high-frequency laser pluses rangefinder,（3）For scanning pendulum len system
System,（4）For three-dimensional high-precision gyroscope,（5）To be tested landform,（6）For ground laser footpoint.Laser thunder is carried to pure helicopter
Up to system, by the high-frequency laser pluses rangefinder（2）Scanning pendulum len system described in the laser pulse Shu Jing launched（3）Reflection
Landform is tested described in directive afterwards（5）, reflection echo signal is by the high-frequency laser pluses rangefinder（2）Receiver receive,
It is computed that the three-dimensional information at the laser footpoint of ground can be obtained.When the helicopter payload platform（1）When stablizing, around three axis sides
Upwards without the influence of attitude angle disturbance, then the laser point cloud coverage area boundaries rule obtained, even density.It is gone straight up to when described
Machine payload platform（1）During in the presence of roll angle around x-axis direction, laser footpoint can be got over along the scanning direction offset of pendulum mirror, roll angle
Greatly, laser footpoint offset distance is bigger.When the helicopter payload platform（1）During in the presence of pitch angle around y-axis direction, laser foot
Point can be deviated along helicopter flight direction, and pitch angle is bigger, and laser footpoint offset distance is bigger.When helicopter payload platform exists
During around the yaw angle of z-axis, the rotation inclination around scanning pendulum len reflection kernel point can occur for laser footpoint, and yaw angle is bigger, laser
Pin point is bigger around the deflection angle of scanning pendulum len central point.The three-dimensional high-precision gyroscope（4）For acquiring the helicopter
Payload platform（1）Real-time three-dimensional attitude angle data.
Fig. 2 is Review for Helicopter laser radar three-dimension altitude angle compensation device compensation principle figure.By the high-frequency laser pluses
Rangefinder（2）The laser pulse beam launched is injected into incident angle α on scanning pendulum len, and is projected with angle of emergence β, β=α.To sweep
It is pole that pendulum mirror plane, which is retouched, with its normal intersection point, and incident ray is polar axis, and incident ray to emergent ray establishes pole for positive direction
Coordinate system, angle of incident light is 0 ° at this time, and emergent ray angle is 2 α.Assuming that the helicopter payload platform（1）Counterclockwise
θ angles are rotated, i.e., there are the pitch angle that angle is θ, then angle of incident light becomes θ at this time, and emergent ray angle becomes+2 α of θ, such as
This described helicopter payload platform（1）Angle offset has occurred before emergent ray and rotation after rotation, leads to laser footpoint position
It puts and generates relatively large deviation with ideal scan position.Laser ranging is more remote, then the deviation of laser footpoint is bigger.To make described go straight up to
Machine payload platform（1）The shooting angle of laser pulse and the helicopter payload platform after rotation（1）It is identical before rotation, then it needs
Scanning pendulum len is rotated backward to correct its angle.
It is now assumed that scanning pendulum len is rotated clockwise, then incidence angle become α-, then have following formula：
（1）
It can solve：
（2）
It therefore, only need to be by helicopter payload platform described in scanning pendulum len backwards rotation on roll angle and pitching angular direction（1）Rolling
Dynamic angle and the half of pitch angle numerical value, it is possible to which shoot laser pulse orientation angle is corrected to the ideal disturbed to no attitude angle
In the case of.And yaw angle disturbance rotates only by the direction at laser emitting angle around z-axis, does not change its shooting angle, therefore only
It need to be by scanning pendulum len backwards rotation to yawing at angular data identical value.
Fig. 3 is the Review for Helicopter laser radar fundamental diagram for being equipped with three-dimension altitude angle compensation device.It is described in figure
The Review for Helicopter laser radar system basic structure of three-dimension altitude angle compensation device is installed.Wherein（1）For helicopter payload platform,
（2）For high-frequency laser pluses rangefinder,（3）For scanning pendulum len system,（4）For Review for Helicopter laser radar 3 d pose angle compensation
Device,（5）For three-dimensional high-precision gyroscope,（6）To be tested landform,（7）For ground laser footpoint.Installation three-dimension altitude angle is mended
Repay device（4）Review for Helicopter laser radar system, high-frequency laser pluses rangefinder（2）The laser pulse beam launched is scanned
Put mirror system（3）Directive three-dimension altitude angle compensation device after reflection（4）, through three-dimension altitude angle compensation device（4）On large scale
Speculum（501）Directive is tested landform after reflection, and reflection echo signal is received by the receiver, and is computed that ground laser can be obtained
Three-dimensional information at pin point.When helicopter payload platform（1）During in the presence of roll angle around x-axis direction, large scale speculum（501）
It is reversely rotated around x-axis to the half of roll angle numerical value, so as to which helicopter payload platform be fully compensated（1）It is right on rolling angular direction
The adverse effect of lidar measurement point cloud.When helicopter payload platform（1）During in the presence of pitch angle around y-axis direction, large scale
Speculum（501）It is reversely rotated around y-axis to the half of pitch angle numerical value, so as to which helicopter payload platform be fully compensated（1）It is bowing
To the adverse effect of lidar measurement point cloud on elevation direction.When helicopter payload platform（1）In the presence of the yaw around z-axis direction
During angle, large scale speculum（501）The identical numerical value of yaw angle is reversely rotated around z-axis, so as to which helicopter payload platform be fully compensated
（1）To the adverse effect of lidar measurement point cloud on yaw angular direction.
Fig. 4 is the mechanical construction drawing of Review for Helicopter laser radar three-dimension altitude angle compensation device.Wherein, the large scale is anti-
Penetrate mirror（501）Length and width be 100mm, the tested landform can effectively be obtained using large scale speculum（6）The laser of reflection
Echo-signal is conducive to increase the detection range range of Review for Helicopter laser radar system；The large scale speculum（501）Gu
Dingan County is mounted in stainless steel hemisphere（525）On, the large scale speculum（501）Rotation center and the stainless steel hemisphere
（525）The centre of sphere coincide.Using magnetic steel concave spherical surface support post（515）By the stainless steel hemisphere（525）Spherical surface
It is tightly sucked, the two, which is formed, slides sphere-contact, makes the stainless steel hemisphere（525）It can be freely rotated around three axis, then the fortune
Dynamic structure forms a magnetic spherical surface universal bearing.Due to the large scale speculum（501）Rotation center with it is described stainless
Steel hemisphere（525）The centre of sphere coincide, therefore when the stainless steel hemisphere（525）It is vertical with magnetic steel concave spherical surface support
Column（515）The magnetic spherical surface universal bearing of composition around three shaft rotations it is dynamic when, the large scale speculum（501）Rotation center sky
Between position relative to the helicopter payload platform（1）Remain constant.
The large scale speculum（501）By four mirror support bars（526）Drive rotation, the mirror support bar
（526）Manufactured using titanium alloy material, be vertically uniformly distributed in a plane around z-axis two-by-two, and with the stainless steel hemisphere
Body（525）Tangent plane secure weld.Four mirror support bars（526）End installation bulb oscillating bearing.The magnetic
Property steel concave spherical surface support post（515）Lower end and circular base slab（514）Secure weld.The circular base slab（514）With x
Two arc rack tracks of installation below axis mirror support bar in the same direction（511）, pacify below the mirror support bar in the same direction with y-axis
Fill two uniaxial connecting-rods bearing（517）.The large scale speculum（501）Rotation around x-axis is by x-axis screw stepper motor
（519）Drive x-axis thread slider 1（521）Guide rail 1 is oriented along x-axis（523）It moves in a straight line, is walked with installing the x-axis screw
Stepper motor（519）On the supporting rod of supporting rod relative direction, it is mounted with x-axis thread slider 2（505）Guide rail 2 is oriented with x-axis
（503）, supporting rod passes through the uniaxial connecting-rod bearing（517）With the circular base slab（514）It is connected.The large scale reflection
Mirror（501）Rotation around y-axis is by y-axis screw stepper motor（507）Drive y-axis thread slider（502）Guide rail 1 is oriented along y-axis
（504）It moves in a straight line, with being equipped with y-axis screw stepper motor supporting rod（508）On the supporting rod of relative direction, it is mounted with
Y-axis thread slider 2（522）Guide rail 2 is oriented with y-axis（524）, supporting rod passes through uniaxial connecting-rod bearing sliding block（509）And the circle
Arc rack track（511）With the circular base slab（514）It is connected.The single shaft connecting-rod bearing sliding block（509）Pass through direct current power
Torque motor（510）Drive the y-axis screw stepper motor supporting rod（508）It is moved along arc rack track, it is ensured that y-axis screw walks
Plane where stepper motor is mutually perpendicular to large scale speculum y-axis.
The magnetic steel concave spherical surface support post（515）With z-axis stepper motor（512）Rotation axis secure weld, and the two
With same rotation axis.The large scale speculum（501）Rotation around z-axis is by the z-axis stepper motor（512）Directly drive
Dynamic.The three-dimension altitude angle compensation device（5）By three-dimension altitude angle compensation device controller（516）Control；The z-axis stepping
Motor（512）With the three-dimension altitude angle compensation device controller（516）It is each attached to mounting base（513）On.The installation
Bottom plate（513）Extension can be achieved in four vertical sides, form a babinet, whole system is wired up, so as to play
Protection, support and dust reduction capability.
Fig. 5 is the control system hardware architecture diagram of Review for Helicopter laser radar three-dimension altitude angle compensation device.Wherein,
The three-dimension altitude angle compensation device controller（516）Using ARM（S3C2440）Controller carries out control realization.The three-dimensional
Attitude angle compensation device controller（516）The three-dimensional high-precision gyroscope is obtained by serial ports 1（4）The helicopter attitude of acquisition
Angle noisy data, using fuzzy PID control strategy, to the large scale speculum（501）Three Shaft angles controlled.By
ARM（S3C2440）The D/A delivery outlets 1 of controller control the x-axis screw stepper motor（519）Drive the x-axis thread slider
1（521）It moves in a straight line, makes the large scale speculum（501）It is rotated around x-axis to the half of roll angle numerical value, so as to completely
Compensate the helicopter payload platform（1）To the adverse effect of lidar measurement point cloud on rolling angular direction.By ARM
（S3C2440）The D/A delivery outlets 2 of controller control the y-axis screw stepper motor（507）Drive the y-axis thread slider
（502）It moves in a straight line, makes the large scale speculum（501）It is rotated around y-axis to the half of pitch angle numerical value, so as to mend completely
Repay the helicopter payload platform（1）To the adverse effect of lidar measurement point cloud on pitching angular direction.By ARM
（S3C2440）The D/A delivery outlets 3 of controller control the z-axis stepper motor（512）Rotation, makes the large scale speculum
（501）Around the identical numerical value in z-axis rotary yaw angle, so as to which the helicopter payload platform be fully compensated（1）On yaw angular direction
To the adverse effect of lidar measurement point cloud.By ARM（S3C2440）The D/A delivery outlets 4 of controller control the uniaxial connecting rod
Bearing slider（509）The upper direct current torque motor（510）Rotation, the y-axis screw is driven by rack pinion mode
Stepper motor supporting rod（508）Rotation makes it keep and the large scale speculum（501）Y-axis direction is vertical, so as to eliminate x
Rotation between axis and y-axis couples.
Above to the description of the present invention and its specific embodiment, it is not limited to which this, is only the present invention shown in attached drawing
One of embodiment.Without departing from the spirit of the invention, it without creating designs and the technical solution class
As structure or embodiment, belong to the scope of the present invention.
Claims (5)
1. a kind of Review for Helicopter laser radar three-dimension altitude angle compensation method and device, it is characterised in that put down including helicopter load
Platform（1）, high-frequency laser pluses rangefinder（2）, scanning pendulum len system（3）, three-dimensional high-precision gyroscope（4）, three-dimension altitude angle mend
Repay device（5）, tested landform（6）；Wherein, the high-frequency laser pluses rangefinder（2）, the scanning pendulum len system（3）, it is described
Three-dimensional high-precision gyroscope（4）, the three-dimension altitude angle compensation device（5）It is fixedly mounted on the helicopter payload platform
（1）On：By the high-frequency laser pluses rangefinder（2）Emit laser pulse beam, through the scanning pendulum len system（3）After reflection,
Three-dimension altitude angle compensation device described in directive（5）, then through the three-dimension altitude angle compensation device（5）On large scale speculum
（501）Landform is tested after reflection described in directive（6）；By the three-dimensional high-precision gyroscope（4）The helicopter load is acquired to put down
Platform（1）Real-time attitude angle noisy data, the three-dimension altitude angle compensation device is sent to by serial communication（5）Controller
In, make the large scale speculum（501）It is done and attitude angle disturbance opposite direction rotation around three axis direction of x, y, z；At it around x-axis
The rolling angle compensation of rotation and around y-axis rotation pitch angle compensation direction on, the large scale speculum（501）Rotating around x-axis
The half of airborne platform roll angle and pitch angle numerical value is rotated backward with y-axis；And in its yaw angle compensation direction around z-axis rotation
On, the large scale speculum（501）It is identical with airborne platform yaw angle numerical value that angle is rotated backward around z-axis, so as to fulfill straight
The real-time compensation of airborne laser radar three-dimension altitude angle disturbance is risen, makes the high-frequency laser pluses rangefinder（2）The laser of transmitting
Pulsed beams are through the scanning pendulum len system（3）The adverse effect that exit direction after reflection is disturbed from three-dimension altitude angle.
2. a kind of Review for Helicopter laser radar three-dimension altitude angle compensation method described in accordance with the claim 1 and device, feature
It is the three-dimension altitude angle compensation device（5）It is mounted with the large scale speculum（501）；The large scale speculum
（501）Length and width be 100mm, can effectively obtain the return laser beam that the tested landform reflected using large scale speculum believes
Number, be conducive to increase Review for Helicopter laser radar system detection range range；The large scale speculum（501）It is packed in not
Become rusty steel hemisphere（525）On, and the large scale speculum（501）Rotation center and the stainless steel hemisphere（525）'s
The centre of sphere coincides；Using magnetic steel concave spherical surface support post（515）By stainless steel hemisphere（525）Spherical surface be tightly sucked, two
Person, which is formed, slides sphere-contact, forms a magnetic spherical surface universal bearing, makes the stainless steel hemisphere（525）It can be around x, y two
Axis is freely rotated；Due to the large scale speculum（501）Rotation center and the stainless steel hemisphere（525）Centre of sphere phase
It overlaps, therefore when the stainless steel hemisphere（525）With the magnetic steel concave spherical surface support post（515）The magnetic spherical surface of composition
Universal bearing around three shaft rotation of x, y, z it is dynamic when, the large scale speculum（501）The spatial position of rotation center is relative to described straight
Rise machine payload platform（1）Remain constant.
3. a kind of Review for Helicopter laser radar three-dimension altitude angle compensation method described in accordance with the claim 1 and device, feature
It is the large scale speculum（501）By four mirror support bars（526）Drive rotation, the mirror support bar（526）It adopts
Manufactured with titanium alloy material, be vertically uniformly distributed in a plane around z-axis two-by-two, and with the stainless steel hemisphere（525）
Tangent plane secure weld；Four mirror support bars（526）End is installed by bulb oscillating bearing；The magnetic steel concave spherical surface
Support post（515）Lower end and circular base slab（514）Secure weld；The circular base slab（514）In the mirror in the same direction with x-axis
Two arc rack tracks of installation below the supporting rod of face（511）, two single shafts are installed below the mirror support bar in the same direction with y-axis
The connecting-rod bearing（517）；The large scale speculum（501）Rotation around x-axis is by x-axis screw stepper motor（519）Drive x-axis
Thread slider 1（521）Guide rail 1 is oriented along x-axis（523）It moves in a straight line, with installing the x-axis screw stepper motor（519）
On the supporting rod of supporting rod relative direction, it is mounted with x-axis thread slider 2（505）Guide rail 2 is oriented with x-axis（503）, supporting rod leads to
Cross the uniaxial connecting-rod bearing（517）With the circular base slab（514）It is connected；The large scale speculum（501）Around y-axis
Rotation is by y-axis screw stepper motor（507）Drive y-axis thread slider（502）Guide rail 1 is oriented along y-axis（504）Do straight line fortune
It is dynamic, with being equipped with y-axis screw stepper motor supporting rod（508）On the supporting rod of relative direction, it is mounted with y-axis thread slider 2
（522）Guide rail 2 is oriented with y-axis（524）, supporting rod passes through uniaxial connecting-rod bearing sliding block（509）And the arc rack track
（511）With the circular base slab（514）It is connected；The single shaft connecting-rod bearing sliding block（509）Pass through direct current torque motor（510）
Drive the y-axis screw stepper motor supporting rod（508）It is moved along arc rack track, it is ensured where y-axis screw stepper motor
Plane is mutually perpendicular to large scale speculum y-axis.
4. a kind of Review for Helicopter laser radar three-dimension altitude angle compensation method described in accordance with the claim 1 and device, feature
It is the magnetic steel concave spherical surface support post（515）With z-axis stepper motor（512）Rotation axis secure weld, and the two has
Same rotation axis；The large scale speculum（501）Rotation around z-axis is by the z-axis stepper motor（512）It directly drives；
The three-dimension altitude angle compensation device（5）By three-dimension altitude angle compensation device controller（516）Control；The z-axis stepper motor
（512）With the three-dimension altitude angle compensation device controller（516）It is each attached to mounting base（513）On, the mounting base
（513）Extension can be achieved in four vertical sides, form a babinet, whole system is wired up, play protection, support
And dustproof effect.
5. a kind of Review for Helicopter laser radar three-dimension altitude angle compensation method described in accordance with the claim 1 and device, feature
It is the three-dimension altitude angle compensation device controller（516）Using ARM（S3C2440）Controller carries out control realization；It is described
Three-dimension altitude angle compensation device controller（516）The three-dimensional high-precision gyroscope is obtained by serial ports 1（4）The helicopter of acquisition
Attitude angle noisy data, using fuzzy PID control strategy to the large scale speculum（501）Three Shaft angles controlled；
The x-axis screw stepper motor is controlled by D/A delivery outlets 1（519）Drive the x-axis thread slider 1（521）It moves in a straight line,
Make the large scale speculum（501）It rotates to the half of roll angle deviation around x-axis, is put down so as to which helicopter load be fully compensated
Platform is on rolling angular direction to the adverse effect of lidar measurement point cloud；The y-axis screw stepping is controlled by D/A delivery outlets 2
Motor（507）Drive the y-axis thread slider（502）It moves in a straight line, makes the large scale speculum（501）It is rotated around y-axis
To the half of pitch angle deviation value, so as to which helicopter payload platform be fully compensated on pitching angular direction to lidar measurement point
The adverse effect of cloud；The z-axis stepper motor is controlled by D/A delivery outlets 3（512）Rotation, makes the large scale speculum（501）
Around the identical numerical value in z-axis rotary yaw angle, laser radar is surveyed on yaw angular direction so as to which helicopter payload platform be fully compensated
The adverse effect of amount point cloud；The uniaxial connecting-rod bearing sliding block is controlled by D/A delivery outlets 4（509）The upper direct current torque motor
（510）Rotation, the y-axis screw stepper motor supporting rod is driven by rack pinion mode（508）Rotation, makes its holding
With the large scale speculum（501）Y-axis direction is vertical, so as to which the movement eliminated between x-axis and y-axis couples.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810009786.1A CN108152802A (en) | 2018-01-05 | 2018-01-05 | A kind of Review for Helicopter laser radar three-dimension altitude angle compensation method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810009786.1A CN108152802A (en) | 2018-01-05 | 2018-01-05 | A kind of Review for Helicopter laser radar three-dimension altitude angle compensation method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108152802A true CN108152802A (en) | 2018-06-12 |
Family
ID=62460840
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810009786.1A Pending CN108152802A (en) | 2018-01-05 | 2018-01-05 | A kind of Review for Helicopter laser radar three-dimension altitude angle compensation method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108152802A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109270552A (en) * | 2018-11-07 | 2019-01-25 | 山东理工大学 | A kind of Review for Helicopter laser radar laser scanning stabilization of carriage angle method and apparatus |
| US20210223022A1 (en) * | 2020-01-16 | 2021-07-22 | Kabushiki Kaisha Toshiba | System and method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5155327A (en) * | 1990-03-01 | 1992-10-13 | Charles Stark Drapes Laboratory | Laser pointing system |
| CN201478986U (en) * | 2009-08-11 | 2010-05-19 | 余亚莉 | High-efficient permanent magnet coupler of armature windings capable of regulating electromagnetic torque |
| CN101865996A (en) * | 2010-05-19 | 2010-10-20 | 北京航空航天大学 | Airborne laser radar pitch angle deviation real-time compensation method and device |
| CN102426355A (en) * | 2011-09-14 | 2012-04-25 | 北京航空航天大学 | Device and method for compensating laser emission pointing disturbance of airborne LADAR (Laser Detection and Ranging) |
| CN102508221A (en) * | 2011-10-13 | 2012-06-20 | 北京航空航天大学 | Deviation compensation method of angle of roll of airborne laser radar |
| CN105676209A (en) * | 2016-04-01 | 2016-06-15 | 山东理工大学 | Helicopter-borne laser radar platform three-dimensional attitude angle complex vibration real-time compensation method and device |
-
2018
- 2018-01-05 CN CN201810009786.1A patent/CN108152802A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5155327A (en) * | 1990-03-01 | 1992-10-13 | Charles Stark Drapes Laboratory | Laser pointing system |
| CN201478986U (en) * | 2009-08-11 | 2010-05-19 | 余亚莉 | High-efficient permanent magnet coupler of armature windings capable of regulating electromagnetic torque |
| CN101865996A (en) * | 2010-05-19 | 2010-10-20 | 北京航空航天大学 | Airborne laser radar pitch angle deviation real-time compensation method and device |
| CN102426355A (en) * | 2011-09-14 | 2012-04-25 | 北京航空航天大学 | Device and method for compensating laser emission pointing disturbance of airborne LADAR (Laser Detection and Ranging) |
| CN102508221A (en) * | 2011-10-13 | 2012-06-20 | 北京航空航天大学 | Deviation compensation method of angle of roll of airborne laser radar |
| CN105676209A (en) * | 2016-04-01 | 2016-06-15 | 山东理工大学 | Helicopter-borne laser radar platform three-dimensional attitude angle complex vibration real-time compensation method and device |
Non-Patent Citations (1)
| Title |
|---|
| ***;徐立军;李小路;田祥瑞: "姿态角扰动对机载激光雷达点云数据的影响", 《仪器仪表学报》, pages 1810 - 1817 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109270552A (en) * | 2018-11-07 | 2019-01-25 | 山东理工大学 | A kind of Review for Helicopter laser radar laser scanning stabilization of carriage angle method and apparatus |
| WO2020093577A1 (en) * | 2018-11-07 | 2020-05-14 | 山东理工大学 | Laser scanning attitude angle stabilization method and apparatus for helicopter-borne lidar |
| CN109270552B (en) * | 2018-11-07 | 2022-12-30 | 山东理工大学 | Helicopter-mounted laser radar laser scanning attitude angle stabilizing method and device |
| US20210223022A1 (en) * | 2020-01-16 | 2021-07-22 | Kabushiki Kaisha Toshiba | System and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105676209B (en) | Helicopter-mounted laser radar platform three-dimensional attitude angle complex vibration real-time compensation method and device | |
| WO2022017419A1 (en) | Laser radar calibration device and method | |
| CN101865996B (en) | Airborne laser radar pitch angle deviation real-time compensation method and device | |
| CN107543495B (en) | Spacecraft equipment autocollimation measuring system, alignment method and measurement method | |
| WO2020093577A1 (en) | Laser scanning attitude angle stabilization method and apparatus for helicopter-borne lidar | |
| JP6796975B2 (en) | UAV measuring device and UAV measuring system | |
| CA2831682C (en) | Measuring system for determining 3d coordinates of an object surface | |
| CN102508221B (en) | Deviation compensation method of angle of roll of airborne laser radar | |
| CN102426355B (en) | Device and method for compensating laser emission pointing disturbance of airborne LADAR (Laser Detection and Ranging) | |
| CN101750012A (en) | Device for measuring six-dimensional position poses of object | |
| CN106772314B (en) | The airborne mapping laser radar broom type scanning system of one kind and its scan method | |
| CN102239422B (en) | Telescope based calibration of a three dimensional optical scanner | |
| CN102239421B (en) | Telescope based calibration of a three dimensional optical scanner | |
| JP6823482B2 (en) | 3D position measurement system, 3D position measurement method, and measurement module | |
| CN104296655B (en) | A kind of laser tracker picture revolves the scaling method of formula initial angle | |
| CN106595638B (en) | Three-axis air-bearing table attitude measuring and measurement method based on photoelectric tracking technology | |
| CN111811496B (en) | Oblique non-contact three-dimensional linear velocity and double-shaft dynamic angle measuring system and method | |
| CN108152802A (en) | A kind of Review for Helicopter laser radar three-dimension altitude angle compensation method and device | |
| JPH05118850A (en) | Three-dimensional surveying system using model helicopter | |
| CN108445470B (en) | Method and device capable of realizing three-dimensional attitude angle compensation of helicopter-mounted laser radar | |
| JP6761715B2 (en) | Surveying device | |
| CN106405527B (en) | Airborne LiDAR device capable of self-adaptively compensating measured topographic height change | |
| CN107356227A (en) | 2 D photoelectric horizontal inclination angle measuring device | |
| JP3937268B2 (en) | Laser equipment | |
| US20220178492A1 (en) | Stable mobile platform for coordinate measurement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |