一种顾及随机误差的地面三维激光扫描仪自检校方法  

A self-calibration method of terrestrial laser scanners considering random errors

作　　者：李霜[1] 樊亚[2] 付贵 周腾飞 LI Shuang;FAN Ya;FU Gui;ZHOU Tengfei(School of Spatial Information and Geomatics Engineering,Anhui University of Science and Technology,Huainan 232001,China;Guizhou Branch of China Building Materials Industry Geologic Exploration Center,Guiyang 551400,China;Guizhou Polytechnic of Construction,Guiyang 551400,China;College of Surveying and Geo-Informatics,Tongji University,Shanghai 200092,China)

机构地区：[1]安徽理工大学空间信息与测绘工程学院,安徽淮南232001 [2]中国建筑材料工业地质勘查中心贵州总队,贵州贵阳551400 [3]贵州建设职业技术学院,贵州贵阳551400 [4]同济大学测绘与地理信息学院,上海200092

出　　处：《山东科技大学学报（自然科学版）》2023年第4期11-20,共10页Journal of Shandong University of Science and Technology(Natural Science)

基　　金：矿山环境与灾害协同监测煤炭行业工程研究中心开放基金项目(KSXTJC202004)。

摘　　要：系统误差作为点云数据中的非随机项,使得扫描结果具有累积作用,对结果质量的影响尤为显著。因此,提出一种地面三维激光扫描仪系统误差自检校方法,该方法同时考虑了系统误差和随机误差对扫描结果的影响。在随机模型方面,基于测角和测距精度对观测值进行加权,并利用方差分量估计理论实现不同类型观测值的后验估计。仿真实验和实测数据验证表明,该方法能有效提高未知参数的解算精度,且经过系统误差和随机误差改正后,可获得更接近真实值的目标坐标,相较于常规自检校方法具有更高的准确性和精度。As non-random terms in the point cloud data,systematic errors make the scanning results generally cumulative and have a particularly significant impact on the quality of the results.In view of this,we proposed a 3D laser scanner systematic error self-calibration functional model,taking into account the effect of both systematic and random errors on the scanning results.For the stochastic model,based on the angle and range accuracy,the observations were weighted;by using the variance component estimation theory,the posterior estimates of different types of observations were realized.The proposed method was verified by simulation experiments and measured data.The results show that the algorithm can effectively improve the accuracy of the solution of unknown parameters and obtain the target coordinates that are closer to the real value after the correction of systematic and random errors,proving that the proposed method has higher accuracy and precision compared with the conventional self-calibration methods.

关 键 词：地面三维激光扫描仪 自检校 随机误差 Gauss-Helmert模型 

分 类 号：P288.4[天文地球—地图制图学与地理信息工程]