CAJ | 학술논문

三维激光成像系统是一种包含激光扫描仪、惯性导航系统（SINS）、全球定位系统（GPS）等多种先进技术的复杂系统。三维激光成像系统工作时需要持续地对成像平台进行高精度的定位、定姿，单一SINS和GPS均无法满足三维激光成像系统的高精度定位、定姿要求。通过建立惯性导航系统的误差模型，以GPS系统提供的高精度速度和位置信息为外测，运用Kalman滤波理论设计了SINS/GPS组合导航系统，实现对惯性导航系统的导航误差的修正。通过试验验证表明，基于Kalman滤波的SINS/GPS组合导航系统可以提高三维激光成像系统构像点定位精度，为建立被扫描物的精确三维模型奠定基础。
삼유격광성상계통시일충포함격광소묘의、관성도항계통（SINS）、전구정위계통（GPS）등다충선진기술적복잡계통。삼유격광성상계통공작시수요지속지대성상평태진행고정도적정위、정자，단일SINS화GPS균무법만족삼유격광성상계통적고정도정위、정자요구。통과건립관성도항계통적오차모형，이GPS계통제공적고정도속도화위치신식위외측，운용Kalman려파이론설계료SINS/GPS조합도항계통，실현대관성도항계통적도항오차적수정。통과시험험증표명，기우Kalman려파적SINS/GPS조합도항계통가이제고삼유격광성상계통구상점정위정도，위건립피소묘물적정학삼유모형전정기출。
The 3D laser imaging system is a complicated system which contains a variety of advanced technology, including laser scanner, SINS and GPS. It is important to ensure the attitude and location of the platform of 3D laser imaging system. Single SINS or GPS can not meet the requirement of the 3D laser imaging system. In the paper, through setting up the error model of the SINS, using velocity and location supplied by GPS, the author designed SINS/GPS integrated navigation based on Kalman filter to correct the error of the SINS. The test results demonstrate that the orientation precision of 3D laser imaging system can be improved by SINS/GPS integrated navigation based on Kalman filter. It paves the way for setting up precise 3D model of scanned object.