| 基于小型无人直升机的三维建模成像系统设计 |
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| 引用本文： | 张谦,裴海龙.基于小型无人直升机的三维建模成像系统设计[J].广东教育学院学报,2014(3):68-74. |
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| 作者姓名： | 张谦 裴海龙 |
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| 作者单位： | [1]广东第二师范学院计算机科学系,广东广州510303 [2]华南理工大学自动化科学与工程学院自主系统与网络控制教育部重点实验室,广东广州510640 |
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| 基金项目： | 国家自然科学基金资助项目“基于预估的新型飞行器重构控制策略研究”（61174053）;高等学校博士学科点专项科研基金资助课题“基于预估的重构控制及其在新型飞行器中的应用”（20100172110023） |
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| 摘 要： | 对于大角度、大范围、复杂场景的快速扫描成像系统,除了要进行任意运动和动态采集建模外,还要对激光传感器的姿态和位置进行实时精确的描述.基于此要求,文中构建了一种基于小型无人直升机机载激光扫描传感器的三维建模成像系统,并设计了一种分步式串级滤波算法,将激光测距传感器得到的距离信息,与小型无人直升机惯性导航系统解算的姿态与位置数据进行融合,实现空间扫描点到基准坐标系的映射,并完成2D行扫描到3D空间的扩展,建立现实世界的3D数字模型.
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| 关 键 词： | 激光测量 数据融合 惯性导航 滤波 |
The Design of a 3D Modeling and Mapping System Based-on a Small Unmanned Helicopter |
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| ZHANG Qian,PEI Hai-long.The Design of a 3D Modeling and Mapping System Based-on a Small Unmanned Helicopter[J].Journal of Guangdong Education Institute,2014(3):68-74. |
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| Authors: | ZHANG Qian PEI Hai-long |
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| Institution: | 1.Department of Computer Science, Guangdong University of Education, Guangzhou, Guangdong, 510303, P. R. China; 2. Key Laboratory of Autonomous Systems and Networked Control, Ministry of Education South China University of Technology, Guangzhou, Guangdong, 510640, P. R. China) |
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| Abstract: | The rapid scanning and mapping system for the large angle, large scale and complex scene requires not only the complete random motion, the real-time measurement data and dynamic modeling, but also the accurate pose and location information of the laser range scanner. According to this requirement, this paper constructs a 3D scanning and mapping system based on the laser ranging technology and the sensors are installed on a small unmanned helicopter. The sequential filter algorithm {uses the pose and location data coming from the inertia navigation system of the small unmanned helicopter with the ranging information by the laser range sensor, then converts the spatial scanning points to the reference coordinate system so that it can extend the 2D scanning line to the 3D space and establish the 3D digital model of real world. |
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| Keywords: | laser ranging data fusing inertia navigation data filtering |
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