周阳林,李广云,王力,周帅峰,宗文鹏,董明.基于传感器联合测量的车载POS精度检测系统设计[J].仪器仪表学报,2017,38(4):806-912
基于传感器联合测量的车载POS精度检测系统设计
Design of vehicle based POS performance evaluation system based onmulti sensors’ composite measurements
  
DOI:
中文关键词:  POS系统  动态精度检测  ICP算法  轨迹修正  误差分析
英文关键词:position and orientation system (POS)  dynamic accuracy testing  iterative closest point (ICP) algorithm  trajectory correction  error analysis
基金项目:国家自然科学基金(41274014,41501491)、地理信息工程国家重点实验室重点基金课题(SKLGIE2014 Z 2 1)项目资助
作者单位
周阳林 信息工程大学导航与空天目标工程学院郑州450052;2. 地理信息工程国家重点实验室西安710054 
李广云 信息工程大学导航与空天目标工程学院郑州450052;2. 地理信息工程国家重点实验室西安710054 
王力 信息工程大学导航与空天目标工程学院郑州450052;2. 地理信息工程国家重点实验室西安710054 
周帅峰 61206 部队北京100000 
宗文鹏 信息工程大学导航与空天目标工程学院郑州450052;2. 地理信息工程国家重点实验室西安710054 
董明 信息工程大学导航与空天目标工程学院郑州450052;2. 地理信息工程国家重点实验室西安710054 
AuthorInstitution
Zhou Yanglin 1. School of Navigation and Aerospace engineering, Information Engineering University, Zhengzhou 450052,China; 2. National Key Laboratory of GeoInformation Engineering, Xi′an 710054, China 
Li Guangyun 1. School of Navigation and Aerospace engineering, Information Engineering University, Zhengzhou 450052,China; 2. National Key Laboratory of GeoInformation Engineering, Xi′an 710054, China 
Wang Li 1. School of Navigation and Aerospace engineering, Information Engineering University, Zhengzhou 450052,China; 2. National Key Laboratory of GeoInformation Engineering, Xi′an 710054, China 
Zhou Shuaifeng 61206 Troops, Beijing 100000, China 
Zong Wenpeng 1. School of Navigation and Aerospace engineering, Information Engineering University, Zhengzhou 450052,China; 2. National Key Laboratory of GeoInformation Engineering, Xi′an 710054, China 
Dong Ming 1. School of Navigation and Aerospace engineering, Information Engineering University, Zhengzhou 450052,China; 2. National Key Laboratory of GeoInformation Engineering, Xi′an 710054, China 
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中文摘要:
      POS系统是移动测量系统的重要组成部分,其位置姿态精度一直受到广泛关注。结合全站仪、激光跟踪仪、GNSS授时装置等传感器,设计了动态精度检测系统,开展了POS系统动态精度检测方法研究。主要采用单次测量时间统计、平滑曲线拟合等方法探测检测系统的测量误差,并在误差剔除的基础上,结合ICP算法,利用跟踪仪高精度测量数据,对全站仪数据进行修正,提高检测系统整体测量精度。最后,在某实验区,进行车载POS系统动态跟踪实验,分别采用整体轨迹对比和实时点位对比方法进行POS系统事后处理精度检测和实时导航精度检测。实验结果表明:采用该种检测方法,动态检测系统能检测出POS实时和事后处理的动态定位精度。
英文摘要:
      position and orientation system (POS) is one of the most important components in mobile mapping system, whose position and orientation accuracy attracts considerable attention. By using total station, laser tracker and GNSS timed device, this paper designed a compound dynamic accuracy testing system. The measurement method of dynamic position accuracy testing for POS is also focused, which utilizes the time statistics of single measurement and curve fitting to calculate the measurement error. After eliminating gross error from the raw observation data, the ICP (iterative closest point) algorithm is used for modifying the trajectory of total station system. As a result, the dynamic measurement can be enhanced by comparing the high accuracy trajectory of laser tracking system and the total station system. Outdoor experiments are carried out to verify the proposed calibration method, in which the overall trajectory comparison and real time comparison are applied for testing the dynamic position accuracy of POS. Experimental results indicate that the designed evaluation system can be used for testing both real time and post processed dynamic position accuracy of POS.
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