Self-calibration of terrestrial laser scanner based on stochastic inner constraint information of estimated parameters

GUO Xian-tao; HUANG Teng; SHENG Yue-qian

doi:10.3788/OPE.20162406.1319

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Self-calibration of terrestrial laser scanner based on stochastic inner constraint information of estimated parameters

Modern Applied Optics | 更新时间：2020-08-13

- Self-calibration of terrestrial laser scanner based on stochastic inner constraint information of estimated parameters
- Optics and Precision Engineering Vol. 24, Issue 6, Pages: 1319-1327(2016)
- 作者机构：
  
  河海大学地球科学与工程学院,江苏南京,211100
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20162406.1319
  CLC： P232
- Received：18 November 2015，
  
  Revised：20 January 2016，
  
  Published：25 June 2016
- 稿件说明：
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郭献涛, 黄腾, 沈月千. 参数相关随机信息约束下的地面脉冲激光扫描仪自校准[J]. 光学精密工程, 2016,24(6): 1319-1327

GUO Xian-tao, HUANG Teng, SHENG Yue-qian. Self-calibration of terrestrial laser scanner based on stochastic inner constraint information of estimated parameters[J]. Editorial Office of Optics and Precision Engineering, 2016,24(6): 1319-1327
郭献涛, 黄腾, 沈月千. 参数相关随机信息约束下的地面脉冲激光扫描仪自校准[J]. 光学精密工程, 2016,24(6): 1319-1327 DOI： 10.3788/OPE.20162406.1319.

GUO Xian-tao, HUANG Teng, SHENG Yue-qian. Self-calibration of terrestrial laser scanner based on stochastic inner constraint information of estimated parameters[J]. Editorial Office of Optics and Precision Engineering, 2016,24(6): 1319-1327 DOI： 10.3788/OPE.20162406.1319.

摘要

针对地面脉冲激光扫描仪自校准参数中存在的高相关性问题，基于全站仪误差模型提出了一种脉冲激光扫描仪自校准统一方法。该方法初始假设激光扫描仪的校准参数与全站仪的系统误差相似，通过引入估计参数的相关随机信息以及选择合适的网络配置，实现了降低参数相关性和提高参数估计可靠性的目的。通过平差方法对估计参数赋予权重信息，把所有参数都视为最小二乘平差中的观测值，权重越高参数相关性期望越低。最后，采用该方法对脉冲激光扫描仪Leica scan station 实施了自校准。实验结果表明，该方法能够高精度估计大多数参数且实现了参数间的低相关性，有利于随机内部约束平差的使用；重大的系统误差是激光测距仪零误差和竖盘指标差，其中为了得到零误差的可靠估计，须以约1 mm的精度确定扫描仪的位置。

Abstract

In terms of high correlation in self-calibration of ground pulse laser scanner

a unified method for self-calibration of pulse laser scanner has been put forward based on the error model of the total station. In this method

it is originally assumed that the calibration parameter of the laser scanner is similar to the system error of the total station

and the objective of reducing the parameter correlation and improving the reliability of parameter estimation is attained by means of introducing relevant randomized information of the estimation parameter and selecting appropriate network configuration. Through the adjustment method

the estimation parameter is endowed with weight information. By regarding each parameter as the observed value in the least squares adjustment

the higher the weight is

the lower the parameter correlation will be. Finally

self-calibration of Leica scan station of the pulse laser scanner is carried out through this method. It is showed in this test that this method can help to achieve high-precision parameter estimation and realize low parameter correlation

which makes for the application of randomized constraint adjustment. Major system error is the zero error of laser range finder and the index error of vertical circle

and to achieve a reliable estimation of the zero error

location of the scanner should be confirmed with a precision of about 1 mm.

关键词

Keywords

references

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