Multi-sensor Coordinates Transformation Relation’s Calibration of Shipborne Overwater and Underwater Integrated Surveying System Based on Space Intersection

doi:10.3901/JME.2024.14.024

Abstract

Abstract: The shipboard overwater and underwater 3D topographic surveying system highly integrates advanced sensors, such as satellite positioning receiver, multi-beam bathymetry, laser scanner, inertial measurement unit, etc. Since the positions of the sensors in the integrated platform and the coordinate system referenced for data acquisition are diverse for each device, the coordinate conversion relationship between the sensors should be calibrated before the terrain data acquisition, in order to ensure a better fusion and splicing of the data between the sensors during the data acquisition process. Based on the precise theodolite, a non-contact high-accuracy calibration method based on the goniometric space intersection principle has been studied to address this problem. Then on this basis, an observation method to improve the accuracy of sensor feature points and a common points layout method to improve the coordinate conversion accuracy between sensors are explored. The calibrated result satisfy the 1∶2000 scale surveying technical specification requirements of overwater and underwater integrated topographic, and can be used as the initial calibration parameter. Relying on the standardization site, it is applied to the transformation parameters precise calibration of the multi-sensor coordinate system that accords the requirements of higher-precision scale measurement and improves the calibration efficiency.

Key words: space intersection, shipborne overwater and underwater integrated surveying, sensor, coordinate system transformation, calibration

CLC Number:

P204

JING Dong, WANG Shuang, YANG Fanlin, SHI Bo, ZHAO Guangqian, SUN Yuewen. Multi-sensor Coordinates Transformation Relation’s Calibration of Shipborne Overwater and Underwater Integrated Surveying System Based on Space Intersection[J]. Journal of Mechanical Engineering, 2024, 60(14): 24-33,41.

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