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标题：Integration of A Terrestrial Laser Scanner With Gps/imu Orientation Sensors
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作者：J. Talaya ; R. Alamus ; E. Bosch 等
期刊名称：ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
印刷版ISSN：2194-9042
电子版ISSN：2194-9050
出版年度：2004
卷号：XXXV Part B5
页码：1049-1044
出版社：Copernicus Publications
摘要：Direct orientation of laser systems has been widely used for airborne laser sensors but not with the terrestrial laser systems. The usual way to operate a terrestrial laser is by scanning a scene while the sensor remains static. In order to cover the whole scene, different scans can be combined by matching several common points, finally the orientation of the scene is performed by identifying and providing coordinates for a minimum of 3 points. This procedure is very time consuming leading to a very low productivity. In order to increase productivity the Institut Cartografic de Catalunya (ICC) has integrated a terrestrial laser scanner in a mobile vehicle with the aim to operating the laser while the vehicle is moving. This paper describes the integration of a terrestrial laser scanner with the GPS/IMU orientation sensors of a Land Based Mobile Mapping System. The laser pulses are synchronized to the GPS time by using a modified PPS signal from a GPS receiver. In order to transfer the reference frame from the GPS/IMU sensors to the laser sensor a number of calibration scans and control points are used and the offset and misalignment between the laser and GPS/IMU sensors is determined. The results of the calibration procedures, as well as accuracies and performance obtained by the integrated GPS/IMU/terrestrial laser system are presented in the paper
关键词：Integration; Orientation; GPS/IMU; Terrestrial; Laser scanning