Feng Yang, Zhendong Shi, Yong Jiang, Jie Leng, Yalan Wang, Dezhang Chen, Lin Xu, Zhao Song, Shiyue Xu, Kai Jia, Jianbo Gao, Yang Bai, Shouhuan Zhou. Analysis of point cloud accuracy and beam pointing of array beam through prism scanning[J]. Infrared and Laser Engineering, 2023, 52(5): 20220689
- Infrared and Laser Engineering
- Vol. 52, Issue 5, 20220689 (2023)
Fig. 1. Schematic diagram of lidar system
Fig. 2. (a) Propagation process of array beam during prism rotation; (b) Transmission process of incidence plane; (c) Transmission process of output plane
Fig. 3. Scanning process of array beam through Fresnel-type risley prism
Fig. 4. Flow chart of beam transmission based on three-dimensional vector optics
Fig. 5. (a) Relationship between angle difference ΔA i -j between the emergent subbeam and center beam and scanning angle φ , the details of the curve in the dotted box; (b) Relationship between the incidence and angle γ scanning angle φ on the plane Σ2; (c) Spatial distribution of outgoing array beams at φ =45º
Fig. 6. (a) Schematic diagram of prism scanning process during airborne flight; (b) Spot distribution of array beam on the ground at h =0.5 km; (c) Digital simulation scene
Fig. 7. Point cloud data by airborne flight simulation, roof details in the dotted box
Fig. 8. (a) Planar fit values RMS for planes used before (red line) and after (blue line) adjustment, difference between the two planar fit values (gray line); (b) Relationship between navigation height and RMS planar fit values for planes
Fig. 9. (a) Relationship between beam array size and planar accuracy; (b) Spatial distribution of laser feet on the ground (@φ =45°)
Fig. 10. (a) Relation between the angular separation of sub-beams and the plane accuracy; (b) Spatial distribution of laser feet on the ground (@φ =45°)
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