非平衡状态下星载三维激光雷达图像畸变研究

激光雷达是飞行器软着陆的重要辅助手段,在飞行器降落过程中它可以实时、精确、快速地确定星体表面局部区域的特征地形.但是,在扫描成像过程中它的载荷平台会有微小的震动,这种非平衡状态会导致由激光雷达获取的点云图像发生一定的畸变.结合激光雷达成像原理和误差传播理论分析了平台稳定性对三维激光雷达成像的影响,研究了在不同扫描周期内三维激光雷达图像变形.实验结果表明,除了受到仪器本身测量精度的影响之外,激光雷达获取图像质量还与扫描时间、成像区域密切相关.利用高分辨率的星载测时与测姿装置可以修正系统性的地形畸变,但是仪器误差也会引人到纠正后的图像之中.按照现有的平台姿态测量水平,控制激光雷达成像时间是它辅助导航着陆能否成功的关键.

Study on Image Deformation of Spaceborne Three-Dimentional LIDAR Imaging in Non-Equilibrium State

For the purpose of landing on a planet safely,risk features of terrain surface should be found out in a real-time,accurate and fast way.Image-based approach is not very efficient and perfect because imaging is constrained severely by the lighting condition of planet surface.Light Detection and Ranging(LIDAR) is regarded as an important auxiliary measure for landing on planets.However,as LIDAR is performing,its platform inevitably shakes or moves slightly,thus resulting in image deformation and not determini...