引用本文: 李小路, 徐立军, 田祥瑞, 王建军. 平台运动误差对机载LiDAR激光脚点分布的影响分析[J]. 武汉大学学报 ( 信息科学版), 2011, 36(11): 1270-1274.
LI Xiaolu, XU Lijun, TIAN Xiangrui, WANG Jianjun. Influence of Laser Footprint Deviation Causing by Motion Error of Airborne LiDAR[J]. Geomatics and Information Science of Wuhan University, 2011, 36(11): 1270-1274.
 Citation: LI Xiaolu, XU Lijun, TIAN Xiangrui, WANG Jianjun. Influence of Laser Footprint Deviation Causing by Motion Error of Airborne LiDAR[J]. Geomatics and Information Science of Wuhan University, 2011, 36(11): 1270-1274.

## Influence of Laser Footprint Deviation Causing by Motion Error of Airborne LiDAR

• 摘要: 为了有效地抑制与补偿平台运动误差产生的像质退化,针对机载激光雷达平台的运动特性研究激光雷达点云分布的变化规律。从理论上推导了平行扫描式激光雷达、Z扫描式激光雷达和圆锥扫描式激光雷达的点云坐标分布表达式;通过仿真讨论了机载激光雷达运动参数与激光雷达点云分布之间的规律;基于平行扫描式激光雷达,研究了5种运动误差对激光雷达点云坐标分布的影响,最终仿真得到根据影响程度由大到小依次为侧滚角误差、俯仰角误差、偏航角误差、机身上下抖动误差、速度瞬时变化误差。该研究结果为进一步研究机械补偿,以提高激光雷达系统成像的精度提供了理论依据和基础。

Abstract: For compensating imaging of LiDAR,the disciplines of the LiDAR point cloud accuracy deviation caused by motion error of airborne LiDAR were advanced.The coordinate expressions of the LiDAR point cloud were deduced for the parallel lines scan LiDAR,the Z-shaped scan LiDAR and the elliptical scan LiDAR.The relationship mapping of the parameters of LiDAR system and the coordinates of LiDAR point cloud were discussed in detail.Further for analyzing the coordinates accuracy of the LiDAR point cloud based on the parallel lines scan LiDAR,five motion errors were discussed.The results show that the rank of the impact factor from the max to the mix are as follows,the roll deviation,the pitch deviation,the yaw deviation,the vertical shake deviation and the instantaneous velocity deviation.It will offer a theory foundation for improving resolution of imaging of LiDAR through mechanical compensating.

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