CN111123246B - Method for testing maximum range finding capability and angle measurement precision of airborne laser radar based on circular scanning - Google Patents
Method for testing maximum range finding capability and angle measurement precision of airborne laser radar based on circular scanning Download PDFInfo
- Publication number
- CN111123246B CN111123246B CN201911321261.2A CN201911321261A CN111123246B CN 111123246 B CN111123246 B CN 111123246B CN 201911321261 A CN201911321261 A CN 201911321261A CN 111123246 B CN111123246 B CN 111123246B
- Authority
- CN
- China
- Prior art keywords
- laser radar
- data
- distance
- angle
- meters
- 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.)
- Active
Links
Images
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
- 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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
A method for detecting the maximum distance measurement capability and the angle measurement precision of an airborne laser radar based on circular scanning comprises the following steps: (1) a step of testing the maximum distance measurement capability; (2) inspecting the position angle of the mirror surface; (3) and (5) checking the refraction angle of the wedge-shaped mirror. The method for detecting the maximum range finding capability and the angle measurement precision of the airborne laser radar based on circular scanning can effectively detect various structural errors possibly occurring in the processing and assembling stages of the laser radar and algorithm errors existing in point cloud calculation, find the problems existing in the aspects of design, assembly and data processing of the laser radar, and avoid the distortion of a three-dimensional model of a target region established after the airborne laser radar system performs flight operation due to the error of the measured data of the laser radar.
Description
Technical Field
The invention belongs to the field of a detection method of a laser radar measurement system, and particularly relates to a detection method of the maximum distance measurement capability and the angle measurement precision of an airborne laser radar based on circular scanning in the field.
Background
The airborne laser radar based on circular scanning adopts a single-beam working mode, as shown in figure 1, a laser only emits one path of light beam at each time, the light beam is refracted by a wedge-shaped mirror and then emitted out along the thickest position of the wedge-shaped mirror, and the light beam is emitted to an external target object after passing through a mirror surface at the front part. The wedge-shaped mirror is fixed on the rotary bearing, the bearing drives the wedge-shaped mirror to rotate together when the motor rotates, the refracted light beam of the laser also rotates circularly along with the thickest part of the wedge-shaped mirror, and a scanning circle is formed on the emitting mirror surface of the radar.
The laser radar performs measurement by emitting a laser beam and receiving an echo signal reflected by a target. And calculating the distance between the target object and the laser radar according to the difference between the receiving time of the echo signal and the transmitting time of the laser beam, and calculating the direction and position information of the target object relative to the laser radar by combining the information such as the rotating position of the wedge-shaped mirror, the laser refraction angle and the like during the transmission of the laser beam.
The direct measurement value of the laser radar during working comprises a time difference T from the emission to the reception of the laser beam and a mirror surface position angle theta during the emission of the laser beam; the wedge refraction angle alpha is theoretically a fixed value, but if the installation of the wedge is deviated, the corresponding alpha values at different theta angle positions are not equal.
In the calculation of the laser radar measurement data, calculating a target point distance L by using time T; and (4) resolving X, Y, Z coordinate values of the target point in the laser radar three-dimensional coordinate system by using the distance L, the mirror surface position angle theta and the wedge-shaped mirror refraction angle alpha. Therefore, the target measurement error of the laser radar is mainly caused by the abnormality of the measured values T, θ and the fixed value α.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for testing the maximum distance measurement capability and the angle measurement precision of an airborne laser radar based on circular scanning.
The invention adopts the following technical scheme:
the method for testing the maximum distance measurement capability and the angle measurement accuracy of the airborne laser radar based on circular scanning is improved by comprising the following steps of:
(1) a maximum ranging capability test step:
(11) selecting a laser radar erection position capable of measuring targets at a distance of about 1000 meters and about 3100 meters, erecting the laser radar at the position, and enabling an erection base to be rotatable or fixed;
(12) measuring 2 non-occluded targets at different distances by using a laser range finder, wherein the non-occluded targets are a target A at about 1000m and a target B at about 3100m, and the measurement value of the laser range finder is used as a true distance value to participate in the inspection;
(13) setting a laser radar to adopt maximum output power, then carrying out in-situ measurement on a target A, B by using the working frequency of 100KHz, wherein in the measurement process, a wedge-shaped mirror of the laser radar does not rotate, a laser beam is emitted along a fixed mirror surface position angle, and the laser radar equipment can rotate in situ along with an erected base;
(14) calculating data after the measurement is finished, and judging the ranging capability of the laser radar according to the calculation result of the measurement data, wherein the judgment method comprises the following steps:
(141) if a large amount of echo data exist in the measurement of the target A, B when the laser radar works at the frequency of 100KHz, and the distance calculation result is equal to the measurement value of the laser range finder, the maximum range finding value of 3000 meters can be reached when the laser radar works at the frequency of 100 KHz;
(142) if the calculation result of the measured data has an obvious distance value to the target A, B when the laser radar works at the frequency of 100KHz, and the calculation result of the distance at the target A is equal to the measured value of the laser range finder, but the calculation result of the distance at the target B is about 100 meters or about 1600 meters, the measurement capability of the laser radar can reach 3000 meters, but the data calculation at the position has errors;
(143) if the calculation result of the measured data only has a distance value of about 1000 meters when the laser radar works at the frequency of 100KHz, and the calculation result of the distance related to the target B does not exist, namely about 100 meters, about 1600 meters and about 3100 meters, the measuring capability of the laser radar is considered not to meet the distance measurement requirement of 3000 meters, and the distance measurement capability of the laser radar is insufficient;
(2) and (3) mirror surface position angle inspection:
(21) the front mirror surface of the laser radar uses 8 screws in the installation and integration process, and the center points of the screws are selected as inspection points in the inspection and are respectively defined as points A, B, C, D, E, F, G, H;
(22) rotating the transmitting optical axis of the laser radar to a detection point A to enable the transmitting optical axis of the radar and the center of the point A to be on the same plane, collecting data at a fixed point, then sequentially rotating the transmitting optical axis of the laser radar to detection points B-H, and collecting data at the fixed point;
(23) analyzing the laser radar data collected at the points A-H to obtain the mirror surface position angle theta of each detection pointA、θB、θC、θD、θE、θF、θG、θH；
(24) Sequentially calculating the angle difference theta between adjacent pointsB-θA、θC-θB、θD-θC、θE-θD、θF-θE、θG-θF、θH-θG、θA-θHAt the calculation of thetaA-θHWhen, take θAIf the angle difference is not equal to 45 °, the mirror surface position angle is considered to be abnormal;
(25) repeating the steps (22) to (24) for three times, and if the angle difference is equal to 45 degrees, determining that the position angle of the mirror surface is correct;
(3) and (3) wedge-shaped mirror refraction angle inspection:
(31) selecting a higher flat roof, and vertically placing the laser radar so that the front mirror surface of the laser radar faces the roof;
(32) setting the transmitting power of the laser radar as the minimum power, and attaching shading paper on the front mirror surface to block partial energy of the transmitted laser beam so as to realize short-distance detection;
(33) setting a laser radar to rotate at a low speed, collecting data, and resolving the data;
(34) after the data calculation is finished, removing points with large distance value difference, including but not limited to columns and side walls, selecting 4 groups of data with 180-degree emission angle difference from the points with equal distance values as test data, and defining the data as A-H points;
(35) for A, E points where the distance measurements are equal, if Z is satisfiedA＝ZE；XA＝-XE；YA＝-YEThe refraction angles of the laser radar on the AE axis are equal according to the coordinate calculation result;
(36) respectively calculating the detection data of points B, F, C, G, D and H, and if the detection data do not meet the calculation result, determining that the refraction angle of the wedge-shaped mirror is abnormal;
(37) repeating (34) - (36), and selecting the detection point 3 times, if the calculation results are all satisfied, then the emission angle of the wedge mirror is considered to be correct.
The invention has the beneficial effects that:
the method for detecting the maximum range finding capability and the angle measurement precision of the airborne laser radar based on circular scanning can effectively detect various structural errors possibly occurring in the processing and assembling stages of the laser radar and algorithm errors existing in point cloud calculation, find the problems existing in the aspects of design, assembly and data processing of the laser radar, and avoid the distortion of a three-dimensional model of a target region established after the airborne laser radar system performs flight operation due to the error of the measured data of the laser radar.
By adopting the detection method, after the detection of the laser radar ranging precision is completed, the detection is carried out in sequence according to the steps from (1) to (3), after the detection of the last parameter is confirmed to be correct, the detection of the next parameter is carried out, the accurate detection of the maximum ranging capability, the mirror surface position angle and the wedge-shaped mirror refraction angle of the laser radar can be realized, and the accurate positioning of the problems in the laser radar equipment is further realized.
Drawings
FIG. 1 is a schematic view of the refraction pattern of a wedge-shaped mirror;
FIG. 2 is a schematic diagram of a laser radar beam emission pattern;
FIG. 3 is a schematic flow diagram of the process of the present invention;
FIG. 4 is a schematic diagram of the method of the present invention for verifying the maximum range capability of a lidar;
FIG. 5 is a schematic of the interval time for distance resolution;
FIG. 6 is a plot of inspection point distribution in the X0Y coordinate system for a mirror plane;
FIG. 7 is a wedge mirror refraction angle checkpoint profile.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The maximum ranging capability is an important parameter of the existing laser radar product, is a basic requirement for realizing middle and high altitude measurement operation of an airborne laser radar, and is an important assessment index of the laser radar product related to the embodiment.
As shown in fig. 3, the technical scheme of this embodiment is based on the working principle of an airborne laser radar based on circular scanning, and a maximum ranging capability inspection method, a mirror surface position angle inspection method and a wedge mirror refraction angle inspection method are designed and implemented, and by using these methods, not only can structural assembly deviation be found when the laser radar equipment is assembled, but also a waveform calculation algorithm can be optimized when the equipment is developed, and the optimal operation parameters of the laser radar under different working environments can be determined.
The maximum ranging capability test method, the mirror surface position angle test method and the wedge-shaped mirror refraction angle test method are all based on the laser radar ranging precision, and the test is developed on the premise that the radar ranging precision meets the requirement. The radar ranging accuracy is checked by a total station measurement method, and specific details are not described herein.
(1) And (3) testing the maximum ranging capability:
the maximum distance measurement capability is the maximum working distance of the laser radar, and the maximum working distance of the laser radar device in the embodiment is 3km when the laser radar device works at 100 KHz.
If the time from the laser radar transmitting the laser beam to the receiving of the echo is T, the distance from the laser radar to the target is as follows:
l is cxt/2, C is the speed of light;
the laser radar with 100KHz working frequency has a laser beam emission interval of 10-5Second, and the time when the laser radar receives the target echo signal at 3km is:
it can be known that after the laser radar transmits a laser beam to a target at a distance of 3km, the laser radar cannot receive an echo signal of the target before the next laser beam is transmitted. And the receiving time of the target echo signal at the position of 3km is just coincident with the transmitting time of the second laser beam, which may cause that the echo signal cannot be correctly received, and in order to avoid the failure of ranging caused by the collision of transmitting and receiving, a target slightly more than 3km away from the laser radar is selected for measurement in the actual inspection process.
As shown in fig. 5, when a target B approximately 3100m away is measured by a laser radar, the interval time between the reception of the echo of the target B and the emission of the laser beam (main wave) is 2.067 × 10-5Second, 1.067X 10 relative to the interval of the first laser beam after the main wave-5Second, relative to the interval time of the second laser beam after the main wave, is 0.067X 10-5And second.
When the target distance is calculated, the correct target distance (about 3100 m) can be obtained only by finding the transmitting laser beam (main wave) corresponding to the echo signal of the target B; if the dominant wave signal is identified as the first laser beam after the dominant wave, the calculated distance is about 1600 meters; if the dominant wave signal is identified as the second laser beam after the dominant wave, the calculated distance is about 100 meters.
In addition, if the target B is too far from the laser radar to generate a valid echo, the measurement data cannot be used to calculate the distance value related to the distance of the target B, that is, the distance calculation result does not include values of about 100m, about 1600 m, and about 3100 m.
The specific method comprises the following steps:
(11) selecting a laser radar erection position capable of measuring targets at a distance of about 1000 meters and about 3100 meters, erecting the laser radar at the position, and enabling an erection base to be rotatable or fixed;
(12) measuring 2 non-occluded targets at different distances by using a laser range finder, wherein the non-occluded targets are a target A at about 1000m and a target B at about 3100m, and the measurement value of the laser range finder is used as a true distance value to participate in the inspection;
(13) as shown in fig. 4, the laser radar is set to adopt the maximum output power, then the target A, B is subjected to in-situ measurement by using the working frequency of 100KHz, in the measurement process, the wedge-shaped mirror of the laser radar does not rotate, the laser beam is emitted along the fixed mirror surface position angle, and the laser radar equipment can rotate in situ along with the erection base;
(14) calculating data after the measurement is finished, and judging the ranging capability of the laser radar according to the calculation result of the measurement data, wherein the judgment method comprises the following steps:
(141) if a large amount of echo data exist in the measurement of the target A, B when the laser radar works at the frequency of 100KHz, and the distance calculation result is equal to the measurement value of the laser range finder, the maximum range finding value of 3000 meters can be reached when the laser radar works at the frequency of 100 KHz;
(142) if the calculation result of the measured data has an obvious distance value to the target A, B when the laser radar works at the frequency of 100KHz, and the calculation result of the distance at the target A is equal to the measured value of the laser range finder, but the calculation result of the distance at the target B is about 100 meters or about 1600 meters, the measurement capability of the laser radar can reach 3000 meters, but the data calculation at the position has errors; the target point can be considered to generate an echo to the laser radar, the laser power and the light path design meet the requirements, and the reason for the distance calculation abnormity is only the algorithm error of waveform calculation.
(143) If the calculation result of the measured data only has a distance value of about 1000 meters when the laser radar works at the frequency of 100KHz, and the calculation result of the distance related to the target B does not exist, namely about 100 meters, about 1600 meters and about 3100 meters, the measuring capability of the laser radar is considered not to meet the distance measurement requirement of 3000 meters, and the distance measurement capability of the laser radar is insufficient; the insufficient range finding capability is caused by the fact that the energy of the emitted laser beam is not enough to reach a distant target, or the echo generated by the distant target is too weak to return to the laser radar, and the main reason of the problem is that the emitting power of the laser radar is insufficient, and the laser emitting device needs to be improved.
(2) Inspecting the position angle of the mirror surface:
a servo motor inside the laser radar drives the wedge-shaped mirror to rotate in a mode of being parallel to the mirror surface, and a laser beam emitted by the radar forms a laser emission circle with the center of the wedge-shaped mirror as the center of the circle and fixed radius along with the rotation of the wedge-shaped mirror.
When a motor inside the laser radar rotates, the motor drives the bearing to rotate at a constant speed, the encoder obtains a mirror surface position angle by reading a grating fixed on the bearing, and the position of a measurement target in an X0Y plane of the laser radar is calculated wrongly due to the error of the mirror surface position angle. The reason for the mirror position angle error is as follows: the grating is not coaxial with the bearing; abnormal grating codes and encoder faults; the motor rotating shaft is not coaxial with the center of the encoder. The position angle of the mirror surface is data directly read by laser radar equipment, the mirror surface in front of the laser radar is only required to be equally divided according to the angle in the inspection, and the included angle between adjacent points after the equal division is analyzed.
The specific method comprises the following steps:
(21) the front mirror surface of the laser radar uses 8 screws in the installation and integration process, the positions of the 8 screws just meet the characteristic of uniform distribution, and the center points of the screws are selected as inspection points (the specific positions are shown in FIG. 6) in the inspection process and are respectively defined as points A, B, C, D, E, F, G, H;
(22) rotating the laser radar, rotating the transmitting optical axis of the laser radar to a detection point A (namely, the thickest position of the wedge-shaped mirror of the laser radar is located at the point A), enabling the transmitting optical axis of the radar and the center of the point A to be on the same plane, collecting data at a fixed point, then sequentially rotating the transmitting optical axis of the laser radar to detection points B-H, and collecting data at the fixed point;
(23) analyzing the laser radar data collected at the points A-H to obtain the mirror surface position angle theta of each detection pointA、θB、θC、θD、θE、θF、θG、θH；
(24) Sequentially calculating the angle difference theta between adjacent pointsB-θA、θC-θB、θD-θC、θE-θD、θF-θE、θG-θF、θH-θG、θA-θHAt the calculation of thetaA-θHWhen, take θAIf the angle difference is not equal to 45 °, the mirror surface position angle is considered to be abnormal;
(25) repeating the steps (22) to (24) for three times, and if the angle difference is equal to 45 degrees, determining that the position angle of the mirror surface is correct;
(3) and (3) testing the refraction angle of the wedge-shaped mirror:
as shown in fig. 2, the refraction angle of the wedge mirror refers to the exit angle of the laser beam relative to the front mirror surface, the center of the mirror surface of the laser radar is used as the origin, and the coordinate of the target point in the Z direction in the 0XYZ coordinate system of the laser radar is:
z is L multiplied by cos alpha, and alpha is the refraction angle of the wedge-shaped mirror;
x, Y the coordinates in the axial direction are: x is L × sin α × cos θ, Y is L × sin α × sin θ, and θ is a mirror position angle; when the laser radar data is calculated according to the method that the refraction angle of the wedge-shaped mirror is a fixed value, if the refraction angle of the wedge-shaped mirror is abnormal, the coordinate value of the target point in the 0XYZ coordinate system is calculated wrongly. The cause of the abnormal refraction angle of the wedge mirror may be a positional deviation between the center o of the mirror surface and the normal line of the wedge mirror, or a deviation between the rotation shaft of the drive motor and the normal line of the wedge mirror.
Because the refraction angle of the laser radar wedge-shaped mirror is a fixed value theoretically, the plane rotation measurement method can be adopted for detection. When scanning a plane by using a laser radar, if the scanning angle of two points satisfies theta2＝θ1+180 °, the solution data for these two points should also satisfy Z1＝Z2、X1＝-X2、Y1＝-Y2. Selecting multiple groups satisfying theta2＝θ1Scan points of +180 °, e.g. all having Z as a result of data resolution1＝Z2、X1＝-X2、Y1＝-Y2The refraction angle of the wedge-shaped mirror of the laser radar can be considered to be fixed. If there are measuring distances L which are the same and theta2＝θ1+180 °, but the solution does not satisfy Z1＝Z2、X1＝-X2、Y1＝-Y2The refraction angle of the wedge-shaped mirror is considered to be abnormal.
The specific method comprises the following steps:
(31) selecting a higher flat roof, and vertically placing the laser radar so that the front mirror surface of the laser radar faces the roof;
(32) setting the transmitting power of the laser radar as the minimum power, and attaching shading paper on the front mirror surface to block partial energy of the transmitted laser beam so as to realize short-distance detection;
(33) setting a laser radar to rotate at a low speed, collecting data, and resolving the data;
(34) after the data calculation is finished, removing points with large distance value difference (points with abnormal distance values such as columns and side walls) and selecting 4 groups of data with 180-degree emission angle difference from the points with the same distance value as the inspection data, such as points A-H in the attached figure 7;
(35) for A, E points where the distance measurements are equal, if Z is satisfiedA＝ZE；XA＝-XE；YA＝-YEThe refraction angles of the laser radar on the AE axis are equal according to the coordinate calculation result;
(36) respectively calculating the detection data of points B, F, C, G, D and H, and if the detection data do not meet the calculation result, determining that the refraction angle of the wedge-shaped mirror is abnormal;
(37) repeating (34) - (36), and selecting the detection point 3 times, if the calculation results are all satisfied, then the emission angle of the wedge mirror is considered to be correct.
Claims (1)
1. A method for testing the maximum distance measurement capability and the angle measurement precision of an airborne laser radar based on circular scanning is characterized by comprising the following steps:
(1) a maximum ranging capability test step:
(11) selecting a laser radar erection position capable of measuring targets at a distance of 1000 meters and 3100 meters, erecting the laser radar at the position, and rotating or fixing an erection base;
(12) measuring 2 non-shielding targets at different distances by using a laser range finder, wherein the targets are a target A at 1000m and a target B at 3100m, and the measurement value of the laser range finder is used as a true distance value to participate in the inspection;
(13) setting a laser radar to adopt maximum output power, then carrying out in-situ measurement on a target A, B by using the working frequency of 100KHz, wherein in the measurement process, a wedge-shaped mirror of the laser radar does not rotate, a laser beam is emitted along a fixed mirror surface position angle, and the laser radar equipment rotates in situ along with an erected base;
(14) calculating data after the measurement is finished, and judging the ranging capability of the laser radar according to the calculation result of the measurement data, wherein the judgment method comprises the following steps:
(141) if a large amount of echo data exist in the measurement of the target A, B when the laser radar works at the frequency of 100KHz, and the distance calculation result is equal to the measurement value of the laser range finder, the maximum range finding value of 3000 meters is considered to be reached when the laser radar works at the frequency of 100 KHz;
(142) if the calculation result of the measured data has an obvious distance value to the target A, B when the laser radar works at the frequency of 100KHz, the calculation result of the distance at the target A is equal to the measured value of the laser range finder, but the calculation result of the distance at the target B is 100 meters or 1600 meters, the measuring capability of the laser radar is considered to reach 3000 meters, but the data calculation at the position has errors;
(143) if the calculation result of the measured data only has a distance value of 1000 meters when the laser radar works at the frequency of 100KHz, and distance calculation results related to the target B do not exist, namely 100 meters, 1600 meters and 3100 meters, the measuring capability of the laser radar is considered to be not satisfied with the distance measurement requirement of 3000 meters, and the distance measurement capability is insufficient;
(2) and (3) mirror surface position angle inspection:
(21) the front mirror surface of the laser radar uses 8 screws in the installation and integration process, and the center points of the screws are selected as inspection points in the inspection and are respectively defined as points A, B, C, D, E, F, G, H;
(22) rotating the transmitting optical axis of the laser radar to a detection point A to enable the transmitting optical axis of the radar and the center of the point A to be on the same plane, collecting data at a fixed point, then sequentially rotating the transmitting optical axis of the laser radar to detection points B-H, and collecting data at the fixed point;
(23) analysis ofAcquiring laser radar data collected at points A-H to obtain the mirror surface position angle theta at each detection pointA、θB、θC、θD、θE、θF、θG、θH；
(24) Sequentially calculating the angle difference theta between adjacent pointsB-θA、θC-θB、θD-θC、θE-θD、θF-θE、θG-θF、θH-θG、θA-θHAt the calculation of thetaA-θHWhen, take θAIf the angle difference is not equal to 45 degrees, the position angle of the mirror surface is considered to be abnormal;
(25) repeating the steps (22) to (24) for three times, and if the angle difference is equal to 45 degrees, determining that the position angle of the mirror surface is correct;
(3) and (3) wedge-shaped mirror refraction angle inspection:
(31) selecting a higher flat roof, and vertically placing the laser radar so that the front mirror surface of the laser radar faces the roof;
(32) setting the transmitting power of the laser radar as the minimum power, and attaching shading paper on the front mirror surface to block partial energy of the transmitted laser beam so as to realize short-distance detection;
(33) setting a laser radar to rotate at a low speed, collecting data, and resolving the data;
(34) after the data calculation is finished, removing points with large distance value difference, including but not limited to pillars and side walls, and selecting 4 groups of data with 180-degree emission angle difference from the points with equal distance values as test data, wherein the test data is defined as A, B, C, D, E, F, G, H points;
(35) for A, E points where the distance measurements are equal, if Z is satisfiedA＝ZE；XA＝-XE；YA＝-YEThe refraction angles of the laser radar on the AE axis are considered to be equal;
(36) respectively calculating the detection data of points B, F, C, G, D and H, and if the detection data do not meet the calculation result, determining that the refraction angle of the wedge-shaped mirror is abnormal;
(37) repeating (34) - (36), and selecting the detection point 3 times, if the calculation results are all satisfied, then the emission angle of the wedge mirror is considered to be correct.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911321261.2A CN111123246B (en) | 2019-12-20 | 2019-12-20 | Method for testing maximum range finding capability and angle measurement precision of airborne laser radar based on circular scanning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911321261.2A CN111123246B (en) | 2019-12-20 | 2019-12-20 | Method for testing maximum range finding capability and angle measurement precision of airborne laser radar based on circular scanning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111123246A CN111123246A (en) | 2020-05-08 |
| CN111123246B true CN111123246B (en) | 2021-09-28 |
Family
ID=70500418
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911321261.2A Active CN111123246B (en) | 2019-12-20 | 2019-12-20 | Method for testing maximum range finding capability and angle measurement precision of airborne laser radar based on circular scanning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111123246B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112114331B (en) * | 2020-10-22 | 2023-01-24 | 中国电波传播研究所（中国电子科技集团公司第二十二研究所） | Homogenization processing method for airborne cone type scanning laser radar data |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101131430A (en) * | 2007-10-10 | 2008-02-27 | 中国科学院上海光学精密机械研究所 | Laser radar double-pass optical transmission simulation and ranging performance detection device |
| CN102706541A (en) * | 2012-06-15 | 2012-10-03 | 北京理工大学 | System for detecting comprehensive performance of laser radiator based on virtual instrument |
| CN102866395A (en) * | 2011-07-05 | 2013-01-09 | 长春理工大学 | Mechanical drift detection and correction technology on basis of laser radar |
| CN106291512A (en) * | 2016-07-29 | 2017-01-04 | 中国科学院光电研究院 | A kind of method of array push-broom type laser radar range Nonuniformity Correction |
| CN106842224A (en) * | 2016-12-28 | 2017-06-13 | 北京小鸟看看科技有限公司 | For the mounting structure detection method and device of the range sensor of electronic equipment |
-
2019
- 2019-12-20 CN CN201911321261.2A patent/CN111123246B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101131430A (en) * | 2007-10-10 | 2008-02-27 | 中国科学院上海光学精密机械研究所 | Laser radar double-pass optical transmission simulation and ranging performance detection device |
| CN102866395A (en) * | 2011-07-05 | 2013-01-09 | 长春理工大学 | Mechanical drift detection and correction technology on basis of laser radar |
| CN102706541A (en) * | 2012-06-15 | 2012-10-03 | 北京理工大学 | System for detecting comprehensive performance of laser radiator based on virtual instrument |
| CN106291512A (en) * | 2016-07-29 | 2017-01-04 | 中国科学院光电研究院 | A kind of method of array push-broom type laser radar range Nonuniformity Correction |
| CN106842224A (en) * | 2016-12-28 | 2017-06-13 | 北京小鸟看看科技有限公司 | For the mounting structure detection method and device of the range sensor of electronic equipment |
Non-Patent Citations (3)
| Title |
|---|
| Multilateration with the wide-angle laser ranging system: ranging performance and first ground-based validation experiment;O. Bock et al.;《IEEE Transactions on Geoscience and Remote Sensing》;19990331;第37卷(第2期);第739-747页 * |
| 基于双振镜的多元并扫成像激光雷达的扫描特性分析与***误差标定;徐卫明 等;《中国激光》;20140228;第41卷(第2期);第1-6页 * |
| 移动机器人中激光雷达测距测角标定方法;赵海鹏 等;《红外与激光工程》;20190630;第48卷(第6期);第1-8页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111123246A (en) | 2020-05-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111856496A (en) | Pipeline detection method and pipeline detection device | |
| CN107782240B (en) | Two-dimensional laser scanner calibration method, system and device | |
| US7474256B2 (en) | Position detecting system, and transmitting and receiving apparatuses for the position detecting system | |
| CN104160294B (en) | Utilize the method that interferometry determines distance change | |
| US9268884B2 (en) | Production control method and device for checking the traversability of pipes | |
| KR101868600B1 (en) | Apparatus and method for calculating detecting angle of target using long range radar, and system with the apparatus | |
| US7797120B2 (en) | Telescope based calibration of a three dimensional optical scanner | |
| US7643135B1 (en) | Telescope based calibration of a three dimensional optical scanner | |
| CN110208771B (en) | Point cloud intensity correction method of mobile two-dimensional laser radar | |
| CN103017690A (en) | Method for measuring straightness of super-long guide rail | |
| CN105203023A (en) | One-stop calibration method for arrangement parameters of vehicle-mounted three-dimensional laser scanning system | |
| CN106813600B (en) | Non-contact discontinuous plane flatness measuring system | |
| CN106425691A (en) | Laser interference principle-based precise main shaft rotation precision detecting device and method | |
| CN102520412A (en) | Laser active detecting device based on MEMS (micro-electromechanical system) two-dimensional scanning mirror array | |
| US20230196612A1 (en) | Method and system for object detection | |
| CN111123246B (en) | Method for testing maximum range finding capability and angle measurement precision of airborne laser radar based on circular scanning | |
| CN104697489A (en) | Plane normal azimuth angle measuring device and method and application thereof | |
| CN106247989A (en) | A kind of guide rail rolling angle field calibration and measurement apparatus and method | |
| EP3971606A1 (en) | Radar elevation angle validation | |
| CN107443169B (en) | A kind of meso-scale milling cutter obliquely intersected recognition methods | |
| Durdevic et al. | Lidar assisted camera inspection of wind turbines: experimental study | |
| CN115615346B (en) | Automatic monitoring method and monitoring device for tunnel and track deformation | |
| US20230367015A1 (en) | Inspection system, extraction device, and inspection method | |
| CN113888693A (en) | High-precision point cloud data reconstruction method | |
| CN106767542A (en) | A kind of contactless torsion angle measuring system and measuring method |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |