Lidar on small UAV for 3D mapping
Lidar on small UAV for 3D mapping
复制标题
小型无人机上的激光雷达用于 3D 测绘
DOI：
10.1117/12.2068448
复制
发表时间：
2014
期刊：
影响因子：
--
通讯作者：
H. Larsson
中科院分区：
文献类型：
--
作者：
H. M. Tulldahl;H. Larsson
小型无人机：S(无人机)目前正处于爆炸性技术开发阶段。惯性导航传感器、推进装置、控制处理器和算法等无人机系统部件的性能正在逐步提高。与此同时，激光雷达技术在可靠性、准确性以及数据收集、存储和处理速度方面不断发展。激光雷达向高数据率的微型系统发展，加上最近无人机的发展，为新的三维(3D)地图绘制能力提供了巨大的潜力。与载人全尺寸飞机的激光雷达测绘相比，小型无人机在小范围内成本效益高，部署更灵活。与被动(多角度)摄影测量的3D地图相比，高分辨率激光雷达的一个优势是能够穿透植被并探测部分被遮挡的目标。另一个优势是能够获得整个调查区域的3D数据，而不会限制低对比度地区的被动摄影测量性能。我们工作的目的是演示小型多旋翼无人机的3D激光雷达测绘能力。本文介绍了Velodyne高密度脂蛋白-32E激光雷达在总重7公斤的六旋翼飞机上的首次实验结果和机电一体化。旋转激光雷达与水平面成20度角安装，在飞机前进方向上，垂直视场低于地平线10-50度。对于3D数据的绝对定位，激光雷达传感器的准确定位和定向至关重要。对基于惯性导航系统(INS)数据和基于INS数据结合激光雷达数据的激光雷达数据定位精度进行了评估。INS传感器由加速计、陀螺仪、GPS、磁力计和用于测高的压力传感器组成。记录了激光雷达的距离分辨率和精度，以及根据校准标准的测量来估计目标表面反射率的能力。通过实地数据收集和分析，展示了一般测绘能力的初步结果，包括对部分模糊环境的检测。
Small UAV:s (Unmanned Aerial Vehicles) are currently in an explosive technical development phase. The performance of UAV-system components such as inertial navigation sensors, propulsion, control processors and algorithms are gradually improving. Simultaneously, lidar technologies are continuously developing in terms of reliability, accuracy, as well as speed of data collection, storage and processing. The lidar development towards miniature systems with high data rates has, together with recent UAV development, a great potential for new three dimensional (3D) mapping capabilities. Compared to lidar mapping from manned full-size aircraft a small unmanned aircraft can be cost efficient over small areas and more flexible for deployment. An advantage with high resolution lidar compared to 3D mapping from passive (multi angle) photogrammetry is the ability to penetrate through vegetation and detect partially obscured targets. Another advantage is the ability to obtain 3D data over the whole survey area, without the limited performance of passive photogrammetry in low contrast areas. The purpose of our work is to demonstrate 3D lidar mapping capability from a small multirotor UAV. We present the first experimental results and the mechanical and electrical integration of the Velodyne HDL-32E lidar on a six-rotor aircraft with a total weight of 7 kg. The rotating lidar is mounted at an angle of 20 degrees from the horizontal plane giving a vertical field-of-view of 10-50 degrees below the horizon in the aircraft forward directions. For absolute positioning of the 3D data, accurate positioning and orientation of the lidar sensor is of high importance. We evaluate the lidar data position accuracy both based on inertial navigation system (INS) data, and on INS data combined with lidar data. The INS sensors consist of accelerometers, gyroscopes, GPS, magnetometers, and a pressure sensor for altimetry. The lidar range resolution and accuracy is documented as well as the capability for target surface reflectivity estimation based on measurements on calibration standards. Initial results of the general mapping capability including the detection through partly obscured environments is demonstrated through field data collection and analysis.