Study On Forest Backpack LiDAR Multi-sensor Integration System And Data Fusion

In recent years,with the increasing development and maturity of remote sensing technology,especially the application of large-area forest mapping and disaster monitoring,especially the wide application of three-dimensional LiDAR scanning systems,based on the current research status of backpack LiDAR systems in ground-based lidars,this paper develops a backpack LiDAR multi-sensor(LiDAR probe,GNSS,IMU,CCD,binocular camera,etc.)integrated system suitable for forestry surveying environments,Combine multi-sensor data fusion technology to build a forest parameter collection system,improve the accuracy of forest parameter collection,and promote the development of forestry informatization and scientific management of forestry.The results of the study are as follows:(1)It analyzes the background and significance of the forestry backpack LiDAR multi-sensor integrated system,as well as the important significance of multi-sensor data fusion,and summarizes the domestic and foreign research status of multi-sensor data fusion and an overview of data fusion algorithms.Carry out the hardware construction of the forestry backpack LiDAR multi-sensor integrated system,the selection of the system’s sensors,the composition of technical indicators and the hardware drive.Realize the software design of the forestry backpack LiDAR multi-sensor integrated system,complete the coordination of system hardware and software,the integrated processing and control processing of the software,the design of the software part,mainly including the man-machine interface design,the construction of the embedded development environment,The realization of the main functions of the software.(2)Using the forestry backpack-type lidar multi-sensor integrated system to extract plantation numbers and DBH parameters,the acquisition accuracy should be greater than or equal to 90%in plain areas and greater than or equal to 85%in mountainous areas,and the system’s ranging accuracy error at 50m is at least less than or equal to 30mm.In order to meet this requirement,the data fusion based on untracked Kalman filter algorithm was studied.Combined with the application of the forestry backpack LiDAR multi-sensor integrated system platform,point cloud data and the current position and attitude information,the nonlinear measurement equation was updated.Combined with the UKF and the filter target motion model,the target state estimation is obtained.Finally,the system test is completed to verify the reliability and practicability of the application and improve the accuracy of multi-sensor data fusion of the system.(3)The installation method of the forestry backpack LiDAR multi-sensor integrated system is determined and optimized on the basis of the original technology to make the system more flexible and portable.The detachable connection structure makes the maintenance and repair cost of the system lower.In summary,the construction,selection,technical index composition and hardware drive of the sensors of the forestry backpack LiDAR multi-sensor integrated system are designed to design the forestry backpack LiDAR multi-sensor integrated system,which has stability and synchronization,High precision and flexibility.The sampling accuracy is improved by fusion of multi-sensor data.The selection of this algorithm can greatly reduce the amount of calculation while ensuring higher filtering accuracy and stability.Field parameter extraction tests verify the stability and accuracy of the system.