The Integration And Application Research Of Small Multipurpose LiDAR System

With the development of computer technology and sensor technology,LiDAR has got rapidly developed,it is becoming more and more matured and has been widely used.The traditional LiDAR system solved the problem of low data acquisition efficiency,but the equipment is heavy,bulky,not easy to carry and install,and the multi-platform application scheme is cumbersome and costly to implement.The sensors are getting smaller,such as laser scanners,inertial measurement unit,etc.It lays a foundation for the miniaturization of LiDAR system.In this paper,a small multipurpose LiDAR system has been integrated through testing,it is small,light,and inexpensive.The system can be switched quickly on many platforms,such as small UAVs and automobiles,to acquire data from the air and the ground respectively to realize the multi-purpose of a system.The main works of this paper are as follows:⑴The miniaturized and tightly integration of system control and data recording.In this paper,a set of system control module has been developed,which perfected the problems of system control and data recording and realized the tight integration of system control and data recording with board computer.⑵A scheme of fast switching multi-platform.This paper designed a scheme that the integrated system can replace multi-platform quickly,so that it not only can serve the small UAV to obtain data from the air,but also serve the platform such as automobile to obtain ground data.It can also meet the joint application of air-ground multi-platforms to realize the purpose of rapid air-ground complete data acquisition and the multipurpose of a system.⑶System parameter calibration.In order to obtain high-precision and high-quality data,this paper designed a parameter calibration scheme,constructed a parameter calibration model,and developed a set of calibration program for the system,which realized the high-precision calibration of system parameters.⑷System performance test.This paper designed a scheme in which the small multipurpose LiDAR system used the rapid multi-platform replacement scheme to obtain integrated data of space and earth in a small area,summarized a set of process in which we used point clouds acquired in the sky to redress and supplement point clouds acquired on vehicle,realizing the complete data acquisition and processing in small area.In order to verify the application direction of the system,analyzed the point clouds of urban road data and verified the accuracy.It is proved that the system can provide high-precision and high-quality three-dimensional visualization data for urban road modeling,component measurement and well cover disease monitoring to facilitate the maintenance and management of urban roads and components.