| How to collect the geographic information which people need quickly and roundly, especially high precision and high resolution 3d geographic information, and how to update the geographic information in time, dynamically and independently, has been the primary problem of socialization of information of surveying and mapping services. At the same time,with the accelerating process of city information,people put forward higher requirements the complexity of large-scale city 3d scene and the model characteristic details. However, the existing technologies are hard to satisfy the demands for getting geographic information rapidly, so more efficient and advanced equipments and technology methods are needed to supplement.Acquiring rapidly and processing of the spatial information becomes a key problem to be solved. And the birth of the mobile measuring system provides a new way to obtain the spatial data.IScan on-board 3d system is studied in the text is also one of the mobile mapping system,namely mobile measurement system,which is the mobile platform of multiple sensor fusion, through a variety of sensors to automatically collect a variety of three-dimensional continuous geographical spatial data, and the collection of data fusion, and processing these datas fusion, processing the datas,information extraction, in order to meet all kinds of the needs of engineering application.This paper analyzed detailedly each component, working principle, working process and key technology of on-board 3d laser scanning system,put forward the multi-sensor synchronization control, and implement the on-board 3d laser scanning system time synchronization control. According to the principle and method spatial registration, it has realized the data fusion about the 3d laser scanner, GPS, IMU and CCD camera, and implement the on-board 3d laser scanning system multi-sensor spatial registration, vehicle-mounted mobile measurement system calibration is discussed and the selection of construction site, implement in the system on the ground and building facade accuracy of point cloud data validation tests.Based on POS integration technology, adjustment technology based on the improved POS integration system of accuracy of control points is established, and the text researches attitude measuring principle and the determination of attitude angles, and analyzes the factors influencing attitude measuring. Kalman filtering methods are described in detail.The text establishes a suitable system state equations and observation equations, and the kalman filter tests, conducts filtering calculationfor the system, analysises of attitude Angle estimation and estimation error. |
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