Self-Calibration Model of Terrestrial Three-Dimensional Laser Scanners Considering Random Errors and Robust Estimation Solution

Tengfei Zhou; Xiaojun Cheng; Kai Huang; Yuan Tao

doi:10.3788/CJL202148.1304002

Chinese Journal of Lasers, Volume. 48, Issue 13, 1304002(2021)

Self-Calibration Model of Terrestrial Three-Dimensional Laser Scanners Considering Random Errors and Robust Estimation Solution

Tengfei Zhou^1、**, Xiaojun Cheng^1,2、*, Kai Huang¹, and Yuan Tao³

Author Affiliations

¹College of Surveying and Geo-Informatics , Tongji University, Shanghai 200092, China

²Key Laboratory of Advanced Engineering Surveying Ministry of Natural Resources, Shanghai 200092, China

³School of Spatial Information and Geomatics Engineering, Anhui University of Science and Technology, Huainan, Anhui 232001, China

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Figures & Tables(6)

Fig. 1. Observation principle of terrestrial three-dimensional laser scanner

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Fig. 2. Parameter differences and RMSE. (a) Translation parameter Δx; (b) translation parameter Δy; (c) translation parameter Δz; (d) rotation parameter Δφ; (e) rotation parameter Δω; (f) rotation parameter Δκ; (g) addition constant Δm; (h) multiplication constant Δλ; (i) aiming axis error Δc; (j) horizontal axis error Δi; (k) vertical axis error Δt; (l) RMSE

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Fig. 3. RMSE of common point and check point. (a) x component of common point; (b) y component of common point; (c) z component of common point; (d) positional precision of common point; (e) x component of check point; (f) y component of check point; (g) z component of check point; (h) positional precision of check point

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Table 1. True values of unknown parameters
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Table 1. True values of unknown parameters
EOPs APs
Δx /m Δy /m Δz /m φ /rad ω /rad κ /rad m /m λ c /rad i /rad t /rad
5 10 5 0.2 -0.2 -1.0 0.005 10^-4 -10^-3 10^-3 -10^-4

Table 2. Prior information of original observations
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Table 2. Prior information of original observations
TLS TS
s /m θ /μrad α /μrad ρ /m γ /μrad β /μrad
0.005 60 60 0.002 24 24

Table 3. Calculation results of real data

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Table 3. Calculation results of real data

Scheme	Point	σ_x /m	σ_y /m	σ_z /m	σ_p /m
Scheme 1	Common point	1.6196×10^-4	7.4570×10^-5	5.3937×10^-5	1.8628×10^-4
Scheme 1	Check point	4.5470×10^-4	0.0018	9.2608×10^-4	0.0021
Scheme 2	Common point	1.0665×10^-11	8.5042×10^-12	2.0958×10^-14	1.3641×10^-11
Scheme 2	Check point	9.1130×10^-4	9.5381×10^-4	8.5771×10^-4	0.0016

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Tengfei Zhou, Xiaojun Cheng, Kai Huang, Yuan Tao. Self-Calibration Model of Terrestrial Three-Dimensional Laser Scanners Considering Random Errors and Robust Estimation Solution[J]. Chinese Journal of Lasers, 2021, 48(13): 1304002

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