| 轻小型低成本无人机激光扫描系统研制与实践 |
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| 引用本文： | 杨必胜,李健平.轻小型低成本无人机激光扫描系统研制与实践[J].武汉大学学报(信息科学版),2018,43(12):1972-1978. |
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| 作者姓名： | 杨必胜 李健平 |
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| 作者单位： | 1.武汉大学测绘遥感信息工程国家重点实验室, 湖北 武汉, 430079 |
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| 基金项目： | 国家杰出青-科学基金41725005国家自然科学基金41531177 |
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| 摘 要： | 无人机激光扫描系统受制于激光扫描仪、惯性测量单元（inertial measurement unit，IMU）等传感器的重量、成本以及无人机平台有效载荷、续航能力等因素的制约，不得不在保证数据质量的前提下在上述制约因素间取得平衡。高精度IMU的昂贵价格极大地限制了无人机激光扫描系统的易用性，因此轻小型低成本无人机激光扫描系统成为学术界和工业界共同关注的热点。重点阐述了小型低成本无人机激光扫描系统的两个关键点，即视觉-低成本IMU耦合的高精度定姿方法和IMU-激光扫描仪-相机的自标定方法；并阐述了基于大疆无人机飞行平台的激光扫描系统——珞珈麒麟云的研制和性能。实践表明，该激光扫描系统有高度的稳定性和可靠性，在无地面控制的情况下获取点云的精度在20 cm以内，在灾害应急、智慧城市等领域具有广泛的应用价值。
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| 关 键 词： | 广义点云 低成本 无人机激光扫描 三维测量 点云处理 |
| 收稿时间： | 2018-08-09 |
Implementation of a Low-Cost Mini-UAV Laser Scanning System |
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| Institution: | 1.State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, China2.Engineering Research Center for Spatio-Tempoal Data Smart Acquisition and Application, Ministry of Education, Wuhan University, Wuhan 430079, China |
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| Abstract: | Mini-UAV laser scanning system can be applied to the high precision earth observation, which is an active area in the field of mobile mapping. However, due to the limitation of payload and battery consumption of a mini-UAV (maximum payload is less than 5 kg), and the high cost of the sensors, a tradeoff must be made between cost, weight, and accuracy when designing of the mini-UAV laser scanning system. To realize the high precision and low-cost mobile mapping, this paper designs a low-cost mini-UAV laser scanning system:Luojia Kylin Cloud. This system contains several low-cost sensors, including MEMS (micro electro mechanical system) based IMU (inertial measurement unit), global shutter camera, wide angle lens and 16-line laser scanner. Firstly, this paper proposes an IMU aided bundle adjustment to improve the accuracy of the low-cost MEMS based IMU. Secondly, this paper proposes a boresight self-calibration algorithm for the laser scanner based on the consistence of the depth map generated by MVS(multi-view stereo) and projection of the laser measurement. At last, the laser point clouds are generated by using the estimated states a boresight parameters. To evaluate the accuracy of Luojia Kylin Cloud laser scanning system, study area in Wuhan University is selected for point cloud collection, and a lot of ground check points are measured. The result shows that the average error of the check points is 17.8 cm, which demonstrates the high accuracy and robustness of the proposed system. |
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