Research On Key Techniques Of Underground Mobile Laser Measurement System

The underground mobile laser measurement system which uses multiple sensors to obtain underground space information is a spacial mobile measurement device.Therefore,the system has a unique advantage in accessing information in the underground space.There is no GPS signal in the underground space, over time, the movement sensor of the position deviation will be larger. Therefore, the use of the co-location of target to correct the motion sensor deviation is an effective way.In this thesis, the main study content including the co-operation target and the use of it to position the mobile sensor.In the first place, the author discuss the underground mobile laser measurement system integration,next is the system introduce, including the parts of the system, the principles, the key technologies and the characteristics of getting data.In the second place,the writer analyzes and summarizes the role of cooperative target and the overall requirements of underground mobile laser measurement system for the cooperative target. The main study content of choice the materials of target,determine the shape and size of target, the high precision recognize of the target center and then performs a lot of experiment.Finally, the authors who under the premise of analyzed and summarized the IMU drift law point that the cooperative target mobile sensor location problem is decomposed into target mobile sensor location estimation and mobile sensor position correct, and describes the different methods used in the two parts. At the end of the paper,the author derive the point error correction formula at a certain time.