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中文摘要：
为了解决在机载激光雷达（Lidar）系统中姿态测不准的难题，提出了采用分立传感器设计的方案，与传统的集成IMU（Inertial measurement unit）设计方案相比，分立设计的方案具有灵敏度高，精度高，噪声低，漂移小等优点；系统主要介绍了分立姿态系统设计方案和软件设计的思想并搭建了激光扫描的数据链路系统；根据各个传感器的特点，结合高阶卡尔曼滤波算法进行有效地数据融合，经实验验证，该系统能够得到高效率、高精度的激光点云数据；这些数据经过地面站上的校正、配准和三角化滤波算法之后能够得到满足工程应用的三维地形图。
英文摘要：
In order to solve the problem of uncertainty of the attitude in the airborne laser radar （Lidar） system, the discrete sensor design program was proposed, compared to the traditional integration of the IMU （Inertial measurement unit） design program , the discrete design has a high sensitivity, high precision, low noise, low drift, etc. The system introduces the idea of discrete attitude system design and software design and build a laser scan data link system. According to the characteristics of each sensor , combined with high--level Kalman filter algorithm to conduct data fusion, the experiment proved that the system can get highly efficient, high--precision laser point cloud data. These data after the correction on the ground station, with the quasi--triangulation filtering algorithm can meet the engineering applications of three--dimensional topographic map.
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