Abstract
Abstract. This paper presents a new INS-LiDAR bore-sighting parameters calibration method that differs from traditional methods on two main aspects. First, the method is static, which avoids being affected by GPS errors and enables the extraction of scanlines. For terrestrial laser scanning, this aspect is extremely important since ranges are short and the GPS errors are the first source of error during the calibration process. Second, the method is based on a rigorous mathematical model, which allows providing reliable boresight quality factors. After presenting the boresight determination problem, this paper will introduce the existing calibration procedures. Then, it will describe the new procedure and explain how it overcomes the limitations of the traditional approaches. Finally, some results from both simulations and real datasets are presented to illustrate our approach.
Highlights
A mobile laser scanning system is composed by a LiDAR which gives the distance to the target, an INS that provides the system orientation and a GNSS that estimates the position in a global frame
The error due to the boresight should be inferior to the cm-level in order to be lower to positioning uncertainty, which is less than 1cm with INS/GNSS hybridized post-processed data
The boresight calibration problem was tackled with a new approach: a position-free calibration procedure based on orientations
Summary
A mobile laser scanning system is composed by a LiDAR which gives the distance to the target, an INS that provides the system orientation and a GNSS that estimates the position in a global frame. Combined altogether, these 3 instruments enable the geolocalization of the LiDAR points in a global frame such as the [ECEF] frame (Earth Centered Earth fixed). The misalignment can be modeled by a rotation matrix CIINNSS* called boresight matrix.
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