三维激光扫描仪系统误差建模理论与标定方法研究

3D laser scanning has the virtue of non-contact,high speed,real time, fully automated, adapt to the coplex environment,etc., and become the forefront and hot spot in survey field both at home and abroad.With the expansion of the application field, higher performance are demanded by users. Our preliminary study on accuracy tests showed significant systematic errors in the observations. This project aims at promoting the measure accuracy. Firstly, the systerm are devided into four independent parts, which are ranging part, angel part, intensity part and image part, and for each part the error source is analized from three aspect, which are instrument related, transmit route ralated and targets related. For each error a contribution model is built, for each part a calibratiom model is put forward，and for 3D point coordinate a total calibratiom model is built. At last, the parameters in each model are caculated based on benchmark of high accuracy,and then the calibration model is determinated.

三维激光扫描技术具有非接触、测量速度快、获取信息量大、实时性强、全自动化、适应复杂环境测量等优点，是目前国内外测量等领域研究的前沿和热点技术。随着该技术应用领域的拓展，用户对仪器的性能提出更高的要求。在前期对各种激光扫描仪进行精度测试的研究中，我们发现国内外各仪器的观测量中存在着比较显著的系统性误差。本项目以"测准"为目标，将三维激光扫描仪分为测距、测角、回光强度获取、图像获取四个独立的部分，并从和仪器相关、和传播路径相关以及和目标相关三个方面深入剖析三维激光扫描仪的误差源；然后针对单项误差确定其影响模型、针对单个独立的测量部分建立系统误差模型、针对三维点坐标构建整体的系统误差模型；最后依据高精度的基准解算模型参数，完成对三维激光扫描仪的标定。

本项目以“测准”为目标，将三维激光扫描仪分为测距、测角、回光强度获取、图像获取四个独立的部分，并从和仪器相关、和传播路径相关以及和目标相关三个方面深入剖析三维激光扫描仪的误差源；然后针对单项误差确定其影响模型、针对单个独立的测量部分建立系统误差模型、针对三维点坐标构建整体的系统误差模型；最后依据高精度的基准解算模型参数，完成对三维激光扫描仪的标定。本项目主要完成四个方面的研究工作：误差源分析与建模；激光扫描仪性能测试方法；激光扫描仪系统误差单项标定方法；激光扫描仪系统误差自标定方法。通过本项目的研究，理清了三维激光扫描仪的原始观测值的种类及其受到影响的误差源，提出了3类测试激光扫描仪性能的方法；建立了单项系统误差模型和系统误差综合模型，构建了分步标定方法与综合标定方法，为设备制造商、计量测试部门以及用户提供了评定设备性能，标定设备系统参数的方法，为激光扫描仪的推广应用提供更好的技术支持与保障。