低精度IMU在机载激光扫描系统中误差模型与应用-豆柴文库

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低精度IMU在机载激光扫描系统中误差模型与应用
Title:ErrorModelandApplicationofLow-precisionIMUinAirborneLiDARScanningSystems
Abstract:
Inrecentyears,airborneLiDARscanningsystemshavegainedsignificantpopularityinvariousapplications,suchas3Dmapping,forestry,andurbanplanning.Thesesystemsheavilyrelyoninertialmeasurementunits(IMUs)tomeasurethemotionoftheplatformcarryingtheLiDARsensor.However,theuseoflow-precisionIMUsinsuchsystemscanintroduceerrorsthatadverselyaffecttheaccuracyoftheacquiredLiDARdata.Thispaperaimstoinvestigatetheerrormodeloflow-precisionIMUsandexploretheirapplicationinairborneLiDARscanningsystems.
1.Introduction
AirborneLiDARscanningsystemsintegratelaserscanningtechnology,GPSreceivers,andIMUstocapturehighlyaccurateanddense3DpointcloudsoftheEarth'ssurface.Traditionally,high-precisionIMUshavebeenusedtoachieveaccuratemotionestimation.However,thecostandcomplexityassociatedwiththeseIMUshaveledresearchersandengineerstoexploretheuseoflow-precisionIMUsinairborneLiDARsystems.Thispaperaimstoprovideanunderstandingoftheerrorcharacteristicsoflow-precisionIMUsandtheirimpactontheLiDARdata.
2.ErrorModelofLow-precisionIMUs
2.1GyroscopeErrors
Low-costIMUsoftensufferfrombiases,scaleerrors,andmisalignmentsinthegyroscopemeasurements.WediscusstheGyrorandomwalk(GRW),biasinstability,anddriftindetailandproposeanerrormodeltocharacterizetheseerrors.
2.2AccelerometerErrors
Similartogyroscopeerrors,low-costIMUsalsoexhibitbiases,scalefactors,andmisalignmentinaccelerometermeasurements.Weexploretheaccelerometerbias,scalefactorerror,andmisalignmenterrorandproposeanerrormodeltodescribetheirimpactonthemotionestimation.
3.CalibrationofLow-precisionIMUs
Tomitigatetheadverseeffectsoflow-precisionIMUsinairborneLiDARscanningsystems,propercalibrationtechniquesneedtobeemployed.Wediscussvariouscalibrationmethods,includingstaticanddynamiccalibrations,andhighlightimportantconsiderationsinthecalibrationprocess.
4.ErrorCompensationTechniques
Toimprovetheaccuracyofthemotionestimationderivedfromlow-precisionIMUs,differenterror