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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.docx

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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