Gm-APD arrays lidar has the advantages of long imaging distance, small volume and low power consumption. Because of its unique high resolution three-dimensional range profile, it is expected to solve the problems of UAV safe flight, autonomous obstacle avoidance and so on. In this paper, according to the dynamic imaging requirements of UAV lidar, a joint image stabilization control algorithm of adaptive Kalman filter and PID is proposed to suppress the disturbance of UAV platform to lidar system and make the laser beam point to the target stably. The vibration test experiment of Gm- APD lidar system is made. Under the condition of horizontal amplitude 5mm and frequency 15Hz sine wave disturbance, the gyro drift is less than 1.7 °/ s, and the target drift is no more than 4 pixels. It is proved that Gm-APD lidar can be applied in the field of UAV safe flight.
Research on image stabilization control algorithm of UAV Gm-APD lidar PID
24th National Laser Conference & Fifteenth National Conference on Laser Technology and Optoelectronics ; 2020 ; Shanghai,China
Proc. SPIE ; 11717
2020-12-02
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Research on image stabilization control algorithm of UAV Gm-APD lidar PID
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