车载GPSIMULS激光成像系统外方位元素的动态标定.PDFVIP

40 3 Vol.40, No.3 2011 6 Acta Geodaetica et Cartographica Sinica Jun., 2011 2011) GPS/ IMU/ LS 1 2 2 1 叶泽田, 杨 勇 , 赵文吉 , 侯艳芳 1. , 100039; 2. , 100048 Dynamic Ca libration of xterior Orientations for Vehicle GPS/ IMU/ LS Laser Imaging System 1 2 2 1 Y Zetian , YANG Yong , ZHAOWenji , HOU Ya nfa ng 1. Chinese Academy of Surveying and Mapping, Beijing 100039, China; 2. The Key Laboratory of 3D Information Acquisitionand Applicationof Ministry of ducation, Capital Normal University, Beij ing 100048, China Abstract : A ca libration method with small rotationangle corrections for the exterior orientations of vehicle laser imaging systemwas proposed. Inthe vehicle laser imaging system, mobile surveying and ma pping platformsystem ( MSMP), integrated GPS with both IMU( inertial measurement unit) and LS ( laser scanner), the method used six small rotationa ngle pa rameters a nd six small translation pa rameters to correct the parameters of traditional models. The experiments show that the new method efficiently corrected the insta llation errors and temporal synchronizing errors inthe system. Key words : vehicle laser imaging system; exterior orientation; ca libration; small rotationangle :提出一种带有微小转角修正的车载激光成像系 外方位元素标定方法针对全球定位系 ( GPS)惯性测量单 元( IMU)和激光扫描仪( LS)集成的车载激光成像系 (车载移动测绘系 ) ,该方法使用6 个微小旋转角参数和6 个微小 平移参数对传 标定模型参数进行修正试验数据表明, 方法可对系 的安装误差和时间同步误差进行有效改正 :车载激光成像系 ; 外方位元素;标定; 微小转角 :P234 : A : 国家863 计划(2006AA12Z324) ; 中国测绘科学研究院专项科研经费 , [ 2] 1 引 言 , [ 34] VLM S , 2004 , CCD ,