地面三维激光扫描仪误差分析及标定

Error Analysis and Calibration of Terrestrial 3D Laser Scanner

提出一种基于距离误差辨识的地面三维激光扫描仪标定方法。介绍了仪器的结构及光路系统,进而分析了仪器的各项系统误差,并设计了误差标定算法。标定过程中,在较大范围内布置多个靶标,利用地面三维激光扫描仪在距离靶标不同位置处测量靶标的空间坐标,计算得到任意两个靶标的距离值,根据标定算法辨识仪器修正参数。该标定方法不需要获得靶标的空间坐标,无需进行扫描仪坐标系与世界坐标系的转换,大大减少了标定参数的数量。标定试验及精度验证试验表明,距离仪器10 m、20 m、30 m附近的点位测量精度分别为±2.7 mm、±2.9 mm、±4.1 mm,满足±(2+L/10000)mm的精度指标要求。该标定方法操作简便、对标定条件要求低,具有较强的实用性。

A calibration method based on distance error identification was proposed for ground 3D laser scanner.The structure and optical system of the instrument were introduced,and various system errors of the instrument were analyzed,a nd the error correction algorithm was designed.In the calibration process,multiple targets were arranged in a large range,and the space coordinates of the targets were measured at different positions from the targets by the terrestrial 3D laser scanner.Then the distance between any two targets were calculated,and the instrument correction parameters were identified according to the calibration algorithm.The calibration method neither to obtain the spatial coordinates of the target,nor to perform the conversion between the scanner coordinate system and the world coordinate system can greatly reduce the number of calibration parameters.The calibration test and the accuracy verification test showed that the measurement accuracy of the points near 10 m,20 m,and 30m from the instrument were respectively±2.7 mm,±2.9 mm,±4.1 mm,and met the accuracy index requirements of±(2+L/10000)mm.The calibration method was easy to operate,had low requirements for calibration conditions,and had strong practicability.