Research On Systematic Errors And Calibration Of Land Vehicle Mobile Mapping System

Automotive mobile measurement system application，focusing on the car mobilemeasurement system components，positioning theory，error analysis，calibration and otherkey technologies，mainly around the car mobile measurement system error sources，automotive mobile measurement system sensor eccentric component calibrationerror model ofthe laser point cloud analysis，the overall system accuracy calibration and other aspects of amore systematic analysis and experiments，the experimental findings for engineeringapplications valuable．In this paper，work and innovation are as follows:1、From the vehicle measurement system composition paper introduces the role ofautomotive mobile measurement system sensor，car mobile measurement system positioningprinciple，and involves five coordinate reference system．Detailed discussion of thepositioning geometric model to convert between the coordinate system．2、Start from the principle of access to the laser point cloud coordinates，detailed analysisof the sources of positioning error of a mobile measurement system，based on laser point clouderror estimation model，the theoretical accuracy of on-board mobile measurement systemaccuracy evaluation，the final model analysis of the measured data，compare the measured andcalculated results of the theoretical accuracy and calibration accuracy．3、Will shift the car to move the measurement system calibration method is divided intoindoor calibration，movement calibration，the calibration field calibration of three stepscalibration，classification calibration of the system，improve the efficiency of the calibration，reducing the calibrationthe complexity．4、A method of DMI scale factor of a laser-based tracker calibration is put forward。Lasertracker dynamic tracking of loading，access to the vehicle trajectory; ranging error and vibrationerror correction model，and calculate the precise driving distance; multiple measurement data toleast squares fitting，the most the optimal scale factor estimates; Trimble vehicle mobilemeasurement system in the DMI calibration using this method，effectively improve theaccuracy of the DMI scale factor，to meet the system measurement needs．5、A method to build large outdoor calibration suit is designed．Calibration suitenvironument，control network technology，and the control point measuring requirements arestudied．6、A method to estimate the parameters of system sensor is put forward．The parametersare calculated by using laser cloud points and control panel to establish the error equations。Experimental results demonstrate the feasibility and effectiveness of the algorithm． 7、A method to calibrate POS positioning accuracy is put forward．The key idea is usingtotal station to measuring the tracking of a fixed prism in the automotive mobile measurementsystem，and comparing the POS measuring tracking and total station measuring tracking toverified the POS positioning accuracy．8、The system accuracy is calibrated by comparing the camera measuring result and thecontrol points of the calibration suit．...