Abstract
Most of the existing mobile LiDAR measurement systems adopt GNSS/INS combination method. This method requires GNSS signal to correct IMU positioning and attitude determination continuously. When GNSS signal is not received, IMU positioning and attitude determination accuracy rapidly increases from centimeter level to sub-meter level or even meter level. In order to solve the positioning defect of mobile measurement system when there is no GNSS signal, In this paper, a dual-mode mobile LiDAR measurement system integrating GNSS/INS positioning and INS/odometer positioning is proposed. It mainly judges whether there is GNSS signal input through the time synchronization controller and automatically switches between the two mode When there is GNSS signal, GNSS/INS positioning is used. When there is no GNSS signal, it automatically switches to INS/odometer positioning mode When there is no GNSS signal, The time synchronization controller simulate GNSS signal, collects its own high-precision quartz crystal oscillator to record time, and converts it into NEMA standard time signal and PPS signal for time synchronization of each sensor. The dual-mode mobile LiDAR measurement system can not only be used in highway measurement, but also solve the pose error in the case of GNSS unlocking such as subway and tunnel. It can be applied to point cloud measurement in a variety of scenes.
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