顾及入射偏差的地面激光扫描仪校准方法

doi:10.13474/j.cnki.11-2246.2022.0185.

测绘通报 ›› 2022, Vol. 0 ›› Issue (6): 130-136.doi: 10.13474/j.cnki.11-2246.2022.0185.

顾及入射偏差的地面激光扫描仪校准方法

张德先¹, 肖浩威¹, 王江林², 杨立扬¹

1. 广州南方卫星导航仪器有限公司, 广东广州 510520;
2. 广州南方测绘科技股份有限公司, 广东广州 510520

收稿日期:2021-08-13 发布日期:2022-06-30
作者简介:张德先(1990-),男,硕士,主要研究方向为卫星导航技术。E-mail:gdpinchina@126.com
基金资助:
国家自然科学基金(41804033)

Acalibration method considered incidence deviation for terrestrial laser scanner

ZHANG Dexian¹, XIAO Haowei¹, WANG Jianglin², YANG Liyang¹

1. Guangzhou South GNSS Navigation Co., Ltd., Guangzhou 510520, China;
2. Guangzhou South Surveying & Mapping Technology Co., Ltd., Guangzhou 510520, China

Received:2021-08-13 Published:2022-06-30

摘要/Abstract

摘要： 地面激光扫描仪的测距信号可能存在入射偏差,使得入射向量和反射镜旋转轴互不平行,引起的点云误差随距离发散。此误差使用传统的全站仪系统误差模型无法校准,因此有必要考虑将测距信号的入射偏差作为扫描仪的系统误差。本文提出了一种顾及入射偏差的地面激光扫描仪系统误差模型,以及相应系统误差参数估计方法,共同构成地面激光扫描仪校准方法。公式推导表明,传统的全站仪系统误差模型是本文方法的一个特例。试验结果表明,相比传统的全站仪校准方法,本文方法将闭合差从8 cm降至1 cm。

关键词: 地面激光扫描仪, 系统误差校准, 入射偏差, 旋转反射镜

Abstract: There may be incident deviation in the ranging signal of the ground laser scanner, so that the incident vector and the rotation axis of the rotating reflector are not parallel to each other, and the resulting point cloud error diverges with the distance. This error cannot be calibrated by using the traditional total station systematic error model. Therefore it is necessary to consider the incident deviation of ranging signal as the system error of scanner. In this paper, a systematic error model for the ground laser scanner considering the incident deviation was introduced, and the corresponding systematic error parameter estimation method are proposed,which together constitute the calibration method of ground laser scanner. The formula derivation shows that the traditional total station systematic error model is a special case of the method in this paper. The experimental results show that compared with the traditional total station calibration method, this method reduces the closure error from 8 cm to 1 cm.

Key words: terrestrial laser scanner, systematic error calibration, incident deviation, rotating reflector

中图分类号:

P237

张德先, 肖浩威, 王江林, 杨立扬. 顾及入射偏差的地面激光扫描仪校准方法[J]. 测绘通报, 2022, 0(6): 130-136.

ZHANG Dexian, XIAO Haowei, WANG Jianglin, YANG Liyang. Acalibration method considered incidence deviation for terrestrial laser scanner[J]. Bulletin of Surveying and Mapping, 2022, 0(6): 130-136.

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顾及入射偏差的地面激光扫描仪校准方法

Acalibration method considered incidence deviation for terrestrial laser scanner

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