Abstract
It is prerequisite to calibrate misalignment matrix between laser scanner and Position and Orientation System (POS) before airborne Light detection and ranging (Lidar) system being putted into survey application. A palmer scanning Lidar can present forward and backward scan intensity images of ground control areas. The pairs of biases between ground control points and central points of forward/backward scan areas are used to adjust the vector measurements of laser footprints. With a pair of non-collinear laser beam vectors and the corresponding footprint measurements of one single control area, the optimal q-method is adopted to solute the orthogonal rotation misaligning matrix. Hardware-in-loop simulation results show that algorithm satisfies the precision requirement of airborne Lidar calibration and performs robustly under various scenarios.
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