An Autonomous Ultra-Wide Band-Based Attitude and Position Determination Technique for Indoor Mobile Laser Scanning

Lawrence Lau,Jingjing Wan,Nie Qian,Conghua Wen,Yiming Quan,Ning Zhou,Faming Jing

doi:10.3390/ijgi7040155

Abstract

Mobile laser scanning (MLS) has been widely used in three-dimensional (3D) city modelling data collection, such as Google cars for Google Map/Earth. Building Information Modelling (BIM) has recently emerged and become prominent. 3D models of buildings are essential for BIM. Static laser scanning is usually used to generate 3D models for BIM, but this method is inefficient if a building is very large, or it has many turns and narrow corridors. This paper proposes using MLS for BIM 3D data collection. The positions and attitudes of the mobile laser scanner are important for the correct georeferencing of the 3D models. This paper proposes using three high-precision ultra-wide band (UWB) tags to determine the positions and attitudes of the mobile laser scanner. The accuracy of UWB-based MLS 3D models is assessed by comparing the coordinates of target points, as measured by static laser scanning and a total station survey.

Highlights

Mobile laser scanning (MLS) has been widely used in three-dimensional (3D) city modelling data collection, such as Google cars for Google Map/Earth
Building Information Modelling (BIM) has recently emerged and become prominent for construction, management, and safety [1], and it will become compulsory for all buildings. 3D models of buildings are essential for BIM
Accurate positions and attitudes of the mobile laser scanner are very important for the correct georeferencing of the 3D models containing BIM geometry; the accuracy of the point cloud should be to the decimetre or better

Summary

Introduction

Mobile laser scanning (MLS) has been widely used in three-dimensional (3D) city modelling data collection, such as Google cars for Google Map/Earth. The point cloud created by mobile laser scanning is usually georeferenced by a Global Navigation Satellite System (GNSS) such as the United States (U.S.) Global Positioning System (GPS). Accurate positions and attitudes of the mobile laser scanner are very important for the correct georeferencing of the 3D models containing BIM geometry; the accuracy of the point cloud should be to the decimetre or better. Whether using indoor or outdoor mobile laser scanning, the quality of the final point cloud is mainly determined by two factors: (1) the accuracy of the laser scanner itself; and (2) the accuracy of the external positioning systems [21]. If the positions and attitudes of the laser scanner in mobile scanning are known, the georeferencing of points in point clouds may be done in real-time laser scanning

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Conclusion