| With the development of sensor technology, laser technology and computer technology,the light detection and ranging technology has become an important technical means to obtainthree-dimensional spatial information. It has many advantages such as high precision, lowcost, high automation and short mapping cycle. It can obtain the accurate three-dimensionalcoordinates for the objects and high resolution digital terrain model quickly and effectively. Inthe respect of building three-dimensional modeling, forest survey, topographic mapping,pipeline laying, coastline analysis and electric power patrol, it has unique technical superiorityand widespread application prospect.In this paper, the sensor working principle and the method of device selection wasintroduced firstly. Then the IMU/DGPS combined navigation principle, the laser rangingprinciple and the principle of airborne laser radar system3D point cloud data production weredescribed. Secondly, the airborne system’s design idea, hardware and software, sensorsynchronization design and installation of airborne system were presented in detail. Thirdly,combining with small unmanned helicopter mode, the eleven order extended Kalman filterdata fusion algorithm was designed and implemented. According to the sensor characteristicsin airborne LIDAR digital terrain mapping system, the function of data fusion algorithm wasanalyzed especially. Finally, the experimental verification and analysis for the whole systemwas carried on.The first domestic low-cost digital terrain mapping Lidar system which based on smallunmanned helicopter platform was independently designed. In this paper, the laser scan dataacquisition system, the high accuracy DGPS/IMU system and the unmanned aerial vehiclecontrol system was built. And the system can fight in a low place to scan the terrain andobtain the high accuracy digital elevation model. The flight simulation experiments verify thecorrectness of the system work. The outfield flight experiments verified the practicality of thesystem. Finally, the point cloud data were given which generated from the experimentalresults. |
