低精度IMU在机载激光扫描系统中误差模型与应用

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英文篇名：Error Model and Application of Low Precision IMU in Airborne Laser Scanning System 作者：田水根 ; 张继宏 ; 林金朝 ; 肖天中 英文作者：Tian Shuigen;Zhang Jihong;Lin Jinzhao;Xiao Tianzhong;Laboratory of Photoelectric Information Sensing and Information Transmission,School of Communication and Information Engineering,Chongqing University of Posts and Telecommunications; 关键词：GNSS/INS ; MEMS-IMU ; 模型误差 ; 机载LiDAR 英文关键词：GNSS/INS;;MEMS-IMU;;model error;;airborne LiDAR 中文刊名：应用激光 英文刊名：Applied Laser 机构：重庆邮电大学通信与信息工程学院光电信息感测与信息传输实验室; 出版日期：2019-06-15 出版单位：应用激光 年：2019 期：03 语种：中文; 页：149-153 页数：5 CN：31-1375/T ISSN：1000-372X 分类号：P237

摘要

基于无人机飞行平台的定位与测姿系统(Position and oricntation system,POS)是通过差分GNSS高精度定位技术与INS导航技术集成,为基于直接地理参考的航空遥感提供位置和姿态基准,是获取高质量遥感成像的关键。针对轻小型无人机采用的低精度IMU,对其误差模型展开研究分析,建立24阶卡尔曼滤波器,最后采用GNSS/INS松组合模式得到高精度POS数据。实测数据表明,将此误差模型下获取的POS数据与无人机激光雷达扫描数据进行融合处理,可满足激光点云精度需求,有效降低机载激光扫描系统成本。
        Positioning and orientation system(POS) based on UAV platform is integrated with differential GNSS high-precision positioning technology and INS navigation technology to provide position and attitude reference for aerial remote sensing based on direct geo-reference. It is the key to obtain high-quality remote sensing imaging. Aiming at the low-precision IMU adopted by the light and small UAV, the error model is researched and analyzed, and the 24 th-order Kalman filter is established. Finally, the GNSS/INS loose combination mode is used to obtain high-precision POS data. The measured data shows that the POS data obtained under this error model can be combined with the radar data of the UAV to meet the laser point cloud accuracy requirements and effectively reduce the cost of the airborne laser scanning system.

引文

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