研究和实现双模移动光检测和距离测量系统的研究和实现
Cai Chen1,2, Xiangling Wu3, Ming Guo3,4,5
1School of Automation and Electrical Engineering, Zhejiang University of Science and Technology, Hangzhou 310023, China.
Sensors (Basel, Switzerland)
|May 14, 2025
概括
本研究介绍了一种双模式移动LiDAR系统,该系统结合了全球导航卫星系统/惯性导航系统 (GNSS/INS) 和INS/车轮转速传感器方法. 它即使在GNSS信号丢失时也保持了准确的定位,提高了移动测量可靠性.
科学领域:
- 地理学工程 工程地质学
- 机器人技术和自主系统
- 传感器融合式传感器
背景情况:
- 移动激光雷达系统通常依赖GNSS/INS进行定位,这可能导致信号丢失.
- 丢失GNSS信号导致惯性测量单元 (IMU) 的定位精度显著降低.
- 现有的系统在GNSS覆盖范围间歇或不存在的环境中保持准确性面临挑战.
研究的目的:
- 开发和评估一种新的双模式移动LiDAR测量系统.
- 克服在移动测量应用中依赖GNSS定位的局限性.
- 在GNSS被拒绝的环境中确保连续和准确的定位和态度确定.
主要方法:
- 将GNSS/INS和INS/轮速传感器定位方法集成到一个单一系统中.
- 实现时间同步控制器,实现无模式切换.
- 使用高精度石英晶振荡器来模拟GNSS时间数据以进行传感器同步.
主要成果:
- 与标准GNSS/INS系统相比,双模式系统显著减少了轨迹误差.
- 轨道误差在600秒内在X方向控制在1米以内.
- 在Y和Z方向的误差分别从2m减少到<1m和3m减少到<2m.
结论:
- 双模式移动LiDAR系统有效地解决了GNSS信号丢失问题.
- 该系统证明适用于户外道路测量和GNSS拒绝的环境,如道和地下区域.
- 这项技术在各种移动测量场景中提供了更高的可靠性和准确性.
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