Unknown environment mapping method for single-beam laser of aircraft

An unknown environment mapping method for an aircraft single-beam laser, wherein the aircraft is configured with a single-beam laser detection and ranging (LiDAR), a stepper motor, and a binocular camera, and wherein point cloud data of the single-beam LiDAR is aligned with stepper motor data on a timestamp;

• wherein the method comprises the following steps:
• S1, denoising point cloud data collected at a current position, and adjusting position and attitude information of an aircraft by using denoised point cloud data, so as to unify a single-beam LiDAR coordinate system and the aircraft;
• S2, based on a unified coordinate system, aligning the point cloud data at adjacent positions initially, and performing a feature extraction, a point cloud alignment and a point cloud stitching in turn to generate a unified point cloud map;
• S3, for point cloud data in the unified point cloud map, establishing a local neighborhood of each point cloud according to a K-nearest neighbors search algorithm, and determining a local tangent space of each point cloud in a local neighborhood by a principal component analysis method, using a multi-dimensional scaling analysis method to integrate information of all local tangent spaces, and obtaining a global parameterization of the point cloud data on a Riemannian manifold;
• S4, based on point cloud data represented by the global parameterization, generating a continuous three-dimensional manifold surface according to a Delaunay triangulation method, and generating a local map of the current position after a smooth and curvature adjustment of the continuous three-dimensional manifold surface;
• S5, in a process of aircraft data acquisition, using a loop detection algorithm to correct a pose of the aircraft, and then optimizing a local map to obtain an optimized local map;
• and
• S6, taking a current optimized local map as a starting point, performing a boundary exploration and a path planning, and collecting data according to a planned path, repeating S1-S5 to gradually generate an optimized local map, and then completing an unknown environment mapping.