Rigorous self-calibration algorithm of domestic laser radar system based on virtual conjugate point

• Main Authors: ZUO JIANZHANG, WAN YOUCHUAN, WU XIAOMING, HUANG GANG, SHENG PENG, LIU XIANLIN, LI JUNJIE, LI ZHIJIE, YANG MENGMENG
• Format: Patent
• Language: Chinese; English
• Published: 27.04.2016
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING

The invention discloses a rigorous self-calibration algorithm of a domestic laser radar system based on a virtual conjugate point. The rigorous self-calibration algorithm comprises steps of extracting a corresponding virtual conjugate point and obtaining position posture information corresponding to the point in order to obtain virtual conjugate points data, introducing the virtual conjugate point data into a self-calibration model, introducing a gauss markov model based on the least square, examining whether the data is convergent in an iteration calculation process, if yes, obtaining optimal 8 calibration parameters, substituting the 8 calibration parameters into initial data to re-calculate laser point cloud data, obtaining the high precision laser point cloud data after calibration to perform accuracy evaluation and outputting an accuracy report. The invention improves positioning precision of the laser radar system while improving the system calibration accuracy, which assists to generate the seamless sp