摘要随着现代自动化技术的发展，现代无人机、自动驾驶汽车等自动驾驶系统成为了研究热门，激光雷达传感器测障系统是现代自动驾驶系统必备的。本文针对UTM30LX型激光雷达的测障原理进行了研究，主要研究工作如下。首先，针对图像显示方面的问题对MFC编程作了一定的学习，采用了编程的方式得到了比较理想的图像。其次，针对激光雷达的数据接收问题，对UTM30LX型号激光雷达的说明书进行了阅读和学习，并能够通过运行程序接收到来自激光雷达的数据。最后，针对绘图效果的问题，采用了对比的方法，与官方提供的软件的成图效果进行了对比，说明了所设计的软件能够正确实时地显示激光雷达扫描到的障碍物信息。论文所做的工作为后期实验室空中机器人自主飞行研究提供了技术保障。84971

毕业论文关键词  激光雷达 MFC 图像显示

毕业设计说明书中文摘要

毕业设计说明书外文摘要

Title  Research on obstacle perception technology based on laser         radar                                                                       

Abstract With the development of modern automation technology，modern unmanned aerial vehicle, automatic driving vehicle and other automatic driving system has become a hot research topic。 Obstacle detection system based on laser radar sensor is necessary for the modern automatic driving system。In this paper, the principle of the measurement of the UTM30LX type laser radar is studied。The main research work is as follows。 Firstly,aiming at the problem of image display,I do some learning about MFC programming。 Secondly, aiming at the data receiving of the laser radar, the specification of the UTM30LX type laser radar is studied, and the data from the laser radar can be received through the program。 Finally, aiming at the problem of drawing effect,the comparison method is used, and the results are compared with that obtained from the official software,which shows that the designed software can display the obstacle information of the laser radar accurately in real time。 The work done in this paper provides technical support for the later research of the autonomous flight of the air robot in the laboratory。

Keywords  Laser radar  MFC  Image display 

目   次

1引言 1

1。1 问题的背景和意义 1

1。2 国内外测距技术发展及现状 1

1。3 本文研究工作和组织安排 2

2 程序开发环境简介 3

2。1 Visual Studio开发环境 3

2 。2 MFC的简介 3

2。3 MFC发展历史及现状 4

2。4 MFC中的结构体/类 5

2。4。1 DC 5

2。4。2 CRect 5

2。4。3 Cwnd 5

3 UTM30LX激光雷达简介 6

3。1 激光雷达测距原理 6

3。2 激光雷达传感器的分类 6

3。3 UTM30型激光雷达外部特征及性能简介 7

3。4数据处理方法 10

3。4。1 卡尔曼滤波