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Laser radar three-dimensional imaging method based on indoor four-rotor aircraft

A four-rotor aircraft and three-dimensional imaging technology, which is applied in the field of three-dimensional imaging, can solve problems such as the inability to realize three-dimensional imaging in all directions, complex use of three-dimensional imaging methods, etc., achieve high adaptability, expand the area range, and improve the effect of scanning range

Active Publication Date: 2016-02-17
NANJING UNIV
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  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is that the existing three-dimensional imaging method is complex to use, and often cannot realize three-dimensional imaging in all directions due to the influence of environmental obstacles

Method used

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  • Laser radar three-dimensional imaging method based on indoor four-rotor aircraft
  • Laser radar three-dimensional imaging method based on indoor four-rotor aircraft
  • Laser radar three-dimensional imaging method based on indoor four-rotor aircraft

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Embodiment Construction

[0060] Such as figure 1 As shown, the lidar three-dimensional imaging method based on the indoor quadrotor aircraft of the present invention comprises the following steps:

[0061] Step 1, read the acceleration data measured by the inertial navigation system of the quadrotor aircraft and the distance data measured by the ranging system, and then use the complementary filtering method to perform data fusion on the acceleration data and the distance data, thereby obtaining the displacement data of the quadrotor aircraft, specific steps for:

[0062] Step 1.1, the acceleration data read is (a x (t),a y (t),a z (t)), perform double integral to get t c-1 to t c Approximate displacement at time (x t ,y t ,z t )for:

[0063] x t y t z ...

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Abstract

The invention provides a laser radar three-dimensional imaging method based on an indoor four-rotor aircraft. The method includes the steps of reading acceleration data and distance data, calculating displacement data of the four-rotor aircraft, reading inertia measurement data, calculating posture and angle data of the four-rotor aircraft, reading depth and cross-sectional image data, calculating depth and cross-sectional images, determining collection position information of the depth and cross-sectional image data according to the displacement data and the posture and angle data, and achieving three-dimensional imaging between depth and cross-sectional images at adjacent positions through a sliding window Newton interpolation method. The three-dimensional imaging method has high flexibility, can reduce influences of complex grounds on flying relative to ground movement robots, and has high adaptability.

Description

technical field [0001] The invention relates to a three-dimensional imaging method, in particular to a three-dimensional imaging method based on an indoor quadrotor aircraft. Background technique [0002] With the rapid development of modern aerospace industry, autonomous aircraft is also developing rapidly under modern high-tech conditions. Aircraft can play an important role in dry, dangerous and harsh environments. In the military field, it can implement low-altitude reconnaissance, intelligence collection, etc.; in the civilian field, it can complete resource exploration, border patrol, disaster monitoring, etc. For collapsed buildings, mines and other environments where ground mobile robots are not competent, flexible autonomous aircraft are a good choice for detecting unknown environments. [0003] For the 3D imaging method, scene information is obtained based on image processing, and 3D imaging is realized through image stitching. This method has complex algorithms,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/89G01S17/02G01C21/16
CPCG01C21/165G01S17/89G01S17/86
Inventor 陈春林王文庆窦宇豪苏三宝李珽光李博文朱张青辛博
Owner NANJING UNIV
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