Uncertainty analysis of laser radar measurement system based on error ellipsoid theory
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摘要: 为了对3维激光扫描技术的测量精度做出评估，以激光雷达测量系统为研究对象，基于误差椭球理论建立了测量系统的点位误差模型；依据点云平面误差椭球的分布特性，提出了点云拟合平面的不确定度模型，用于评估与拟合平面关联的尺寸测量精度；通过对箱体类物体高度的测量实验，获得了实际测量不确定度，并与模型仿真结果进行了对比。结果表明，该模型可较准确地估算出高度的测量不确定度，从而验证了其有效性及实际意义。Abstract: In order to provide measurement accuracy evaluation for 3-D laser scanning devices, a laser radar measurement system (LRMS) was choosed as the research object and uncertainty model of point cloud fitting plane was proposed. After experimental verification, a single-point error ellipsoid model for the LRMS based on error ellipsoid theory was established. According to the distribution characteristics of plane error ellipsoid of point cloud, uncertainty model of point cloud fitting plane was proposed to evaluate and fit the dimension measurement accuracy associated with plane. Verification experiments were performed by using the LRMS to measure the height of a cubic object, and the measurement accuracy results were evaluated and compared with the simulated results using the proposed uncertainty model. The results show that the model can accurately estimate the uncertainty of height measurement. The research has the validity and practical significance.
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Keywords:
- measurement and metrology /
- uncertainty /
- error ellipsoid theory /
- laser radar /
- point cloud
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Figure 2. Mapping relationship between global reference coordinate system and radar scanning plane coordinate system
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