激光扫描视觉提高DGPS/IMU定位定姿可靠性方法研究

项目名称： 激光扫描视觉提高DGPS/IMU定位定姿可靠性方法研究

项目编号： No.41271452

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 天文学、地球科学

项目作者： 胡庆武

作者单位： 武汉大学

项目金额： 75万元

中文摘要： DGPS/IMU 集成处理对于无地面控制摄影测量至关重要，其定位定姿精度、稳定性和可靠性影响着车载移动测图系统进行大规模三维空间数据生产和应用。当前，GPS 遮挡或失锁、IMU漂移均使得DGPS/IMU 直接地理参考精度在实际工程应用、测量连续性方面存在欠缺。本项目将激光扫描视觉引入DGPS/IMU 集成处理，研究1）激光扫描数据辅助CCD 影像特征提取算法；2）基于序列双目影像运动分析的位置和姿态推算方法3）基于三维激光扫描视觉的相对测量位置姿态参数估计算法；4）集成影像和点云视觉运动分析载体位置姿态估计参数辅助DGPS/IMU 的扩展卡尔曼滤波定位定姿处理算法。通过对上述关键技术突破，为DGPS/IMU集成引入CCD 序列影像、三维点云视觉辅助定位定姿，解决GPS 遮挡失锁、IMU 漂移时连续可靠和高精度定位定姿问题，为无控制移动测图系统直接地理参考及大范围测图应用提供理论和技术支持。

中文关键词： 激光测距姿态测量；视觉测量；位置测量；姿态测量；惯性导航系统

英文摘要： The position and attitude parameters from DGPS and IMU integration processing is very important for photogrammetry processing without ground control points. The accuracy,stability and reliability of DGPS/IMU integration result is critical to land based mobile mapping system for large scope 3D spatial data production and application. The GPS signal block or outage and the IMU drift error affect the direct georeference accuracy of land based mobile mapping system and it will cause some defects for during the practice engineering application with land based mobile mapping system. In this project, a laser scanning and imaging vision approach is presented for the DGPS/IMU integration processing as following aspects: 1) Research on laser scanning point cloud data aided feature extraction algorithm for binocular sequence CCD images; 2) Algorithm research of binocular sequence images motion analysis based on matched image feature; 3) Position and attitude determine method study with laser scanning vision analysis; 4) Extented Kalman filtering algorithm integrated Laser scanning vision, imaging vision and DGPS/IMU for position and attitude determine. With the above key technique breakthrough, the proposed approach achieve high accuracy DGPS and IMU integration processing with laser scanning and imaging vision to solve

英文关键词： Laser range finder；Vision measurement；Position surveying；Attitude surverying；IMU