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机载激光雷达系统是集激光扫描仪、全球定位系统和惯性导航系统等于一体的多传感器集成系统。机载激光雷达的检校和标定是保证激光点云定位精度的关键环节,其中扫描系统安置角误差是影响定位精度的主要因素之一。首先介绍了国产中远程机载激光雷达Mars-LiDAR系统,然后基于误差传播定律对系统误差进行了分析。研究了系统安置角误差的飞行检校方法,采用外场定标的方法将安置角进行动态分离,并通过飞行试验完成了系统安置角误差的动态检校,对Mars-LiDAR系统在3000m、4000m飞行高度获取的点云进行了定位精度分析和校正,验证了Mars-LiDAR系统安置角误差检校方法的实用性。
Airborne lidar system is a multi-sensor integrated system that integrates laser scanner, global positioning system and inertial navigation system. The calibration and calibration of airborne lidar are the key points to ensure the accuracy of laser point cloud positioning. Among them, the placement error of scanning system is one of the main factors affecting the positioning accuracy. Firstly, the domestic middle-long distance laser radar Mars-LiDAR system is introduced, then the systematic error is analyzed based on the law of error propagation. The flight calibration method of system placement angle error is studied. The method of field calibration is used to dynamically separate the placement angle. The dynamic calibration of the system setup angle error is completed by flight test. The flight of Mars-LiDAR system at 3000m and 4000m The highly accurate point cloud was analyzed and calibrated to verify the practicability of the Mars-LiDAR system to calibrate the angular error.