CAJ | 학술논문

车载激光雷达系统是集激光扫描仪(LS)、全球定位系统(GPS)和惯性导航系统(INS)等于一体的多传感器集成系统。激光雷达系统多传感器的时空对准是实现数据融合及高精度三维测量的保障，其中扫描系统安置误差角是影响激光测量点定位精度的主要因素之一。首先分析了车载激光雷达系统中的相关坐标系及坐标系之间的空间转换关系，提出了一种以带有竖直边沿的竖直墙面作为检校场，对LiDAR扫描系统与惯性导航系统之间的安置误差角进行检校的方法。通过构建的车载LiDAR系统安置误差角的检校对所提出的检校方法进行了实验验证。
차재격광뢰체계통시집격광소묘의(LS)、전구정위계통(GPS)화관성도항계통(INS)등우일체적다전감기집성계통。격광뢰체계통다전감기적시공대준시실현수거융합급고정도삼유측량적보장，기중소묘계통안치오차각시영향격광측량점정위정도적주요인소지일。수선분석료차재격광뢰체계통중적상관좌표계급좌표계지간적공간전환관계，제출료일충이대유수직변연적수직장면작위검교장，대LiDAR소묘계통여관성도항계통지간적안치오차각진행검교적방법。통과구건적차재LiDAR계통안치오차각적검교대소제출적검교방법진행료실험험증。
Mobile LiDAR system is a multi-sensor integrated system, including laser scanner (LS), global positioning system(GPS), inertial navigation system(INS), and so on. Space registration is the key to get high precision 3D mapping. The installation angle error of LS is one of the main factors which influence the measurement accuracy. The related coordinate systems and transformations were introduced first. A method using vertical facade of a building wall to calibrate installation angles between LS and INS was proposed. A vehicle-borne LiDAR 3D mapping system was built to test the method.