松紧耦合组合在隧道移动测量中的应用研究

Application Research of Loosely-coupled Combination Modes in Vehicle-mounted Laser Scanning of Tunnels

为研究GNSS/INS组合导航中松组合和紧组合方式对隧道车载三维激光扫描中载体定位定姿的影响,本文分别采用紧组合和松组合模式对隧道车载三维激光扫描系统采集的导航信息进行处理,分析2种组合方式在隧道中的载体定位定姿性能,并对2种组合方式对后续点云数据处理性能的影响进行了对比分析。结果表明,紧组合方式在定位定姿精度方面优于松组合。同时,在后续点云数据处理中,2种组合方式得到的点云数据点位误差RMS值都小于0.05 m,能够满足工程需求。

In order to investigate the influence of the navigation capability of GNSS/INS loosely-couple integrated navigation system and the tightly-coupled system on positioning and pose of carrier in vehicle-mounted 3D laser scanning in city tunnels.In this paper,we use the two modes to solve the carrier attitude and positioning,and analysis the capability,and compare and analyze the influence of the two combine methods on the processing performance of the subsequent point cloud data.The test result indicates that the tightly-coupled system is better than the loosely-coupled integrated navigation system in positioning and attitude accuracy.In the subsequent point cloud data processing,the point position error RMS value of point cloud data obtained by the two combined methods is less than 0.05 m,which can meet the engineering requirements.