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- 2018
轻小型低成本无人机激光扫描系统研制与实践
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Abstract:
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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