测绘学报

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车载GPS/IMU/LS激光成像系统外方位元素的动态标定

叶泽田1,杨勇2,赵文吉2,侯艳芳1   

  1. 1. 中国测绘科学研究院
    2. 首都师范大学
  • 收稿日期:2010-02-01 修回日期:2010-06-25 出版日期:2011-06-25 发布日期:2011-06-25
  • 通讯作者: 叶泽田

Dynamic Calibration of Exterior Orientations for Vehicle GPS/IMU/LS Laser Imaging System

  • Received:2010-02-01 Revised:2010-06-25 Online:2011-06-25 Published:2011-06-25

摘要: 本文研究提出了一种带有微小转角修正的车载激光成像系统外方位元素标定方法。针对全球定位系统(GPS)、惯性测量单元(IMU)和激光扫描仪(LS)集成的车载激光成像系统(车载移动测绘系统),该方法使用6个微小旋转角参数和6个微小平移参数对传统标定模型参数进行修正。实验数据表明,本文方法可对系统的安装误差和时间同步误差进行有效的改正。

Abstract: This paper proposed a calibration method with small rotation-angle corrections for the exterior orientations of vehicle laser imaging system. In the vehicle laser imaging system, Mobile Surveying & Mapping Platform system (MSMP), integrated GPS with both IMU (Inertial Measurement Unit) and LS (Laser Scanner), the method uses six small rotation-angle parameters and six small translation parameters to correct the parameters of traditional models. The experiments show that the new method efficiently corrected installation errors and temporal synchronism errors in the system.