Tìm hiểu ứng dụng của tổ hợp thiết bị đạo hàng trong công nghệ Lidar

NGHIEN Cl)U - THAO LUAN

m ^ Tim hieu ufng dung cua to iigrp thiet hi

Oao hang troiig cong nghi LiDAR

O ThS. LE VAN HA*, TRAN THANH HA**, HOANG THj HA***

Cac thidt bj quet Laser hien dai

lap dat tren cac phudng tien

bay (vat mang, nhu may bay

tau vu tru, ve tinh...) dupe trang bj

mpt td hpp thiet bj thue hien nhiem vu

dao hang. Lay vi du minh hoa la td

hpp POV/AV dupe san xult bdi hang

Applanix - Canada.

Td hpp thiet bj dao hang gdm 3

hpp phin:

1.MaythuGPS2tln(L^vaL2)

thue hien phep do khoang each theo

nguyen ly do pha sdng tii.

2. May tfnh chuyen dung.

3. He thdng dao hang quan tfnh

(IMU)

Chdng thuc hien cac nhiem vu

xac djnh eae tham sd dao hang cho

qui dao chuyen dpng va gdc djnh

hffdng cija vat mang, theo eac

nguyen tac cd ban sau:

+ He thd'ng quan tfnh cung clp

sd lieu eho may tfnh, de tfnh ra toau

dp, van tde va gde djnh hffdng cffa vat

mang. He thd'ng quan tfnh dupe gan

chat vdi than vat mang, chfnh xac hdn

la khung lap dat thiet bj quet.

+ May thu GPS/GLONASS cung

Tdng Cdng ty Tai nguyen va Mdi

trudng Viet Nam;

Trudng dai hpc Md - Dja chit;

Trudng Cao dang Cdng nghiep

Phffe Yen;

May gia toe

Con quay

/

TZD—^

He thong may tinh

ehuyen dung

Hieu chinh dao

hang

Thie bi kiem tra

Hieu chinh

Vitri

Goc dinh hudng

van toe,

van toe goc

Gia toe

Tinh sai so

GPS Fil loc Kalman f.

Stf do nguyen ly cau tao cua he thong dao hang GPS/IMU

clp cac sd lieu ve tao dp tffc thdi cua

vat mang de hieu chmh eac dap an

eua he thd'ng quan tfnh. Neu thieu

GPS, thi Idi giai cua he thd'ng quan

tfnh khdng dffpe hieu ehinh.

+ Sff dung sd dd kiem tra khep

kfn de dffa ra Idi giai tdi ffu nhat,

nhanh nhit eho qua trinh dieu khien.

Sd dd nguyen ly hoat dpng eua

td hpp thiet bj dupe minh hoa d hinh

ve tren.

Vdi phin mem ehuyen dung dupc

eai dat trude, may tfnh da ra Idi giai tff

phudng trinh ehuyen dpng cua Niuton

ve vj trf, van tdc va djnh hudng eua

sensor IMU trong he toa dp Ellipsoid

trai dit WGS-84 cd tfnh den chuyen

dpng quay eua nd trong khdng gian

vat ly. Sd lieu sff dung de tfnh toan

dupe lay tff cae sd lieu do cua he thdng

con quay he thd'ng may gia tdc, ma

cac he thdng nay da dupe gan chat

vao khung may quet. Vi khung quet da

gan chat vdi vat mang, nen eac Idi gai

tren cd the qui chieu ve mpi diem bat

ki tren than hay trong khoang cua vat

mang; ma cu the la tam diem cua

gudng quet. De thuc hien dupe cac

phep qui chuan, cae tham sdxae djnh

vj tri tUdng ddi cua cae hpp phin phai

dUdc xac djnh trudc.

Td hpp anten GPS hoat dpng

trong cae ehe dp thu:

+ Che dp code C/A;

+ Che dp do GPS vi phan;

+ Che dp xff ly tdng hpp vdi tram

GPS ehu va he thd'ng quan tinh.

Theo thd'ng ke eua nha san xuat,

dp ehfnh xac xac djnh eae tham sd

dao hang eua eae ehe dp nhff sau:

Tdi nguyen vd Mdi trudng | Ky 2 - Thang 8/2010 O g