基于IMU与激光雷达紧耦合的混合匹配算法

针对线、面特征匹配的激光雷达测距与地图构建算法(Lightweight and Ground-Optimized Lidar Odometry And Mapping,LeGO-LOAM)在自动导引运输车(Automated Guided Vehicle,AGV)室内室外实时建图与定位时,易出现激光里程计累积误差大和旋转估计不准确等问题,本工作采用惯性测量单元(Inertial Measurement Unit,IMU)与激光雷达紧耦合的LeGO-LOAM算法,通过IMU为激光雷达提供的初始位姿信息,构建IMU与激光雷达联合误差函数,实现位姿共同迭代优化.其中,对于室外结构化信息较少时,在点对点的迭代最近点算法(Iterative Closest Point,ICP)较高定位精度的基础上,结合LeGO-LOAM算法和ICP算法互补性,进一步提出基于IMU与激光雷达紧耦合的混合匹配算法:当环境中结构信息较多时,激光里程计采用LeGO-LOAM算法,而当环境中结构化信息较少时采用ICP算法.实验结果表明,基于IMU与激光雷达紧耦合的混合匹配算法可有效降低激光里程计相对位姿误差和累积误差,提高AGV小车定位精度以消除部分地图重影.     

基于DBF技术的星载SAR宽测绘带实现方法

在研究距离向使用数字波束形成(Digital Beanforming,DBF)实现星载SAR宽测绘带原理的基础上,分析了星载DBF-SAR距离模糊与传统星载SAR距离模糊的不同,并利用阵列天线零点指向技术实现宽零陷的原理,展宽模糊点所对应位置零陷宽度,从而在提高星载SAR宽测绘带基础上有效地减小距离模糊,提高成像质量.通过仿真和比较分析,表明使用具有宽零陷指向特性的DBF技术实现星载SAR宽测绘带模式的可行性.     

Comparison of bathymetry and seagrass mapping with hyperspectral imagery and airborne bathymetric lidar in a shallow estuarine environment

We compared hyperspectral imagery and single-wavelength airborne bathymetric light detection and ranging (lidar) for shallow water (<2 m) bathymetry and seagrass mapping. Both the bathymetric results from hyperspectral imagery and airborne bathymetric lidar reveal that the presence of a strongly reflecting benthic layer under seagrass affects the elevation estimates towards the bottom depth instead of the top of seagrass canopy. Full waveform lidar was also investigated for bathymetry and similar performance to discrete lidar was observed. A provisional classification was performed with limited ground reference samples and four supervised classifiers were applied in the study to investigate the capability of airborne bathymetric lidar and hyperspectral imagery to identify seagrass genera. The overall classification accuracy is highly variable and strongly dependent on the classification strategy used. Features from bathymetric lidar alone are not sufficient for substrate classification, while hyperspectral imagery alone showed significant capability for substrate classification with over 95% overall accuracy. The fusion of hyperspectral imagery and bathymetric lidar only marginally improved the overall accuracy of seagrass classification.     

Assessment of the impacts of surface topography, off-nadir pointing and vegetation structure on vegetation lidar waveforms using an extended geometric optical and radiative transfer model

In order to prioritize the measurement requirements and accuracies of the two new lidar missions, a physical model is required for a fundamental understanding of the impact of surface topography, footprint size and off-nadir pointing on vegetation lidar waveforms and vegetation height retrieval. In this study, we extended a well developed Geometric Optical and Radiative Transfer (GORT) vegetation lidar model to take into account for the impacts of surface topography and off-nadir pointing on vegetation lidar waveforms and vegetation height retrieval and applied this extended model to assess the aforementioned impacts on vegetation lidar waveforms and height retrieval.Model simulation shows that surface topography and off-nadir pointing angle stretch waveforms and the stretching effect magnifies with footprint size, slope and off-nadir pointing angle. For an off-nadir pointing laser penetrating vegetation over a slope terrain, the waveform is either stretched or compressed based on the relative angle. The stretching effect also results in a disappearing ground peak return when slope or off-nadir pointing angle is larger than the “critical slope angle”, which is closely related to various vegetation structures and footprint size. Model simulation indicates that waveform shapes are affected by surface topography, off-nadir pointing angle and vegetation structure and it is difficult to remove topography effects from waveform extent based only on the shapes of waveform without knowing any surface topography information.Height error without correction of surface topography and off-nadir pointing angle is the smallest when the laser beams at the toward-slope direction and the largest from the opposite direction. Further simulation reveals within 20° of slope and off-nadir pointing angle, given the canopy height as roughly 25 m and the footprint size as 25 m, the error for vegetation height (RH100) ranges from − 2 m to greater than 12 m, and the error for the height at the medium energy return (RH50) from − 1 m to 4 m. The RH100 error caused by unknown surface topography and without correction of off-nadir pointing effect can be explained by an analytical formula as a function of vegetation height, surface topography, off-nadir pointing angle and footprint size as a first order approximation. RH50 is not much affected by topography, off-nadir pointing and footprint size. This forward model simulation can provide scientific guidance on prioritizing future lidar mission measurement requirements and accuracies.     

星载多通道SAR的模糊特性研究

为解决星载SAR的高分辨率和宽测绘带之间存在的矛盾,引入了多通道模式．基于多通道SAR的工作原理,深入分析了多通道SAR模糊信号的来源;从子带滤波和多通道重构的角度,提出多通道SAR的方位模糊计算方法,最后给出了仿真实例．仿真结果表明,该方法能够有效应用于星载多通道SAR设计中,指导选择合适的脉冲重复频率,以降低方位模糊和距离模糊．     

利用光子累计改善成像激光雷达的信噪比方法

介绍了采用光子计数探测的1064nm激光雷达系统。理论分析了光子计数探测技术和信噪比的改善，实验研究了改善信噪比的脉冲累计方法。实验给出了光子累计脉冲与信噪比之间的平方根关系，同时给出了不同距离下的探测结果，数据表明：当光子累计脉冲提高到原来的4倍时，信噪比达到平均1．89倍的增强。     

星载存储器吞吐率瓶颈与高速并行缓存机制

为解决目前星载存储器无法有效支持多路高速数据并行存储的问题,针对载荷数据高速输入需求,对基于NAND Flash的固态存储器的吞吐率瓶颈进行分析,根据固态存储器的固有写操作特性对有效吞吐率的影响,提出了四级流水线操作和总线并行扩展方案;针对多通道数据并行存储、流水线加载连续性等需求,对使用现场可编程门阵列FPGA(Field-Programmable Gate Array)内部双端口随机存取存储器RAM(Random access memory)、外置静态随机存取存储器SRAM(Static Random Acess Memory)等已有缓存方案的不足进行分析,完成了基于同步动态随机存储器SDRAM(Synchronous Dynamic Random Access Memory)的方案可行性分析与新型存储单元架构设计,最终提出了基于SDRAM的高速多通道缓存与存储协同调度方案.模型仿真与原型功能验证结果表明,方案在极限工况下可将4路高速文件数据连续并行接收缓存至SDRAM中,并可根据各分区缓存状态将文件数据按优先级自主动态写入Flash中,期间缓存无溢出,并最终进入常规动态平衡调度状态,实现了对多路高速载荷数据的并行接收缓存和自主调度存储,且存储器的数据吞吐率可达1.2Gbps,能够满足未来星载存储器对多路高速载荷数据存储的需求.     

面向实际场景SLAM应用的光照适应性研究

为探究环境感知设备在SLAM算法应用过程中的光照适应性问题,在不同光照强度下分别进行激光雷达和深度相机SLAM算法的验证性评估实验.基于四轮差速机器人,搭载16线激光雷达和深度相机,结合LOAM(Lidar Odometry And Mapping)和RTAB-MAP(Real-Time Appearance-Based Mapping)算法,分别在明暗环境中分析验证设备光照适应性.实验结果表明:在明亮环境下,基于视觉SLAM和激光SLAM系统偏差的中误差分别为0.203和0.644 m;在黑暗环境中两者偏差的中误差分别为0.282和0.683 m;深度相机在明、暗环境中的定位建图效果均优于激光雷达,深度相机的光照适应性更强.     

三维激光雷达技术在输电线路运行与维护的应用

三维激光测量技术为空间三维信息的获取提供了全新的手段。介绍了三维激光雷达技术在输电线路运行与维护的应用,包括线路走廊危险地物检测、电力线间距离精细量测、输电线路三维可视化管理、线路走廊地形地貌变化检测、已有输电线路的增容分析和新建线路的树木砍伐评估,并给出激光雷达技术在我国输电线路运维中应用的实例。     

星载气象雷达功放非线性对超低副瓣脉冲压缩信号的影响及消除

为在强海面回波影响下测量反射较弱的雨云.星载气象雷达要求脉冲压缩的主副瓣功率比高于60 dB.因此超低副瓣脉冲压缩成为星载气象雷达的核心技术之一.超低副瓣的实现对线性度要求很高.星载雷达为保证发射机的功率和效率,功放多工作于近饱和区,造成副瓣电平恶化.本文分析了功放非线性对超低副瓣脉冲压缩信号的影响,基于射频功率放大器、矢量信号发生仪和矢量信号分析仪实现了功放数字预失真算法,并利用松弛迭代法提高了迭代收敛速度.在保证星载气象雷达超低副瓣的前提下提高了发射机的功效.