Calibration of a Terrestrial Laser Scanner - Institute of Geodesy and ...

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u140 C. Adjustment of SphereA =dfi,B =dfit(C6)The dimensions of the matrices and vectors aregiven by the number of observations n and byof unknowns u The redundancy r is obtained generally bythe numberr = n—(C 7)Thus, the following dimensions are obtained for the required matrices• P dim(n, =• A dim(n, =• B dim(r, =• w dim(r, =n)u)n)1)The implemented equations for the adjustment are well-known and can be found in various scientific pub¬lications and books, eg [Großmann, 1961], [Hopcke, 1980], [Leick, 2004], [Welsch et al, 2000]The weight matrix P is a diagonal matrix since the coordinates acquired by the laser scanner are indepen¬dent of each other This assumption is only conditionally valid since the Cartesian coordinates x, y, z arederived by the spherical coordinates h, v, s, which are independent of each otherHowever, the Cartesiancoordinates are correlated and the covanances have to be considered in a strict sense Nevertheless, forsimplification reasons, the assumption of uncorrelated coordinates is adhered to The weighttions is controlled by the weight matrix P In the case of blunders, the weightof observa¬can be reduced to eliminatethe influence of the blunder on the unknowns A blunder is detected by data snooping The normalizedresidual, which equals the distance of one point to the sphere surface, is a reliable criterion for eliminatingblundersThe aposteriori variance of the unit weight a\ estimates the variance of one single observation Here, it isthe variance of one single coordinate represented by x or y or z3D point
-Precision•__________"141distance between points and the sphere surface can be chosen. As mentioned before, this parameter equalsa normalized residual. Considering a single point precision of 3.3 mm, a maximum distance of 10 mm fromone point to the sphere surface means a normalized residual of 3. Furthermore, the operatorthe diameter of the sphere has to be estimated during the adjustment procedurecan define ifor if the diameter is wellknown.Depending on the diameter, either the observation model or the mixed model is run for estimatingthe unknowns. After a successful calculation, the application shows the results of the unknowns includingprecision terms as well as other parameters.»AdjustmentSpheiAVWittÄjl! MMB5" Jpf xjInput ParameterOpen Fife...|sh_06_aptsStartMax Dislance Pohls Sphere-Surface0.010 m'PFree Diameter (to be computed)f" Fix Diameter^Resultsr Center of Sphere 1X| 2.8344 mvj—— 1.0145 mof L nwiowns** r~ 0.09s_Y J-mmmms0_aposterion )1 38 mm]~|Points(15747z|""~~ -0.2245 mDiameterj0.1474 ms_2 r~s_DiarneterQ.04 Single Point Precision 3.40 mmmmI015 r rimRedundancy (Ï5743IjjIterations |3AdjustemtSphere StartedDate 1U17/0GTime 10 37 00Runtime 0.5 secInput File sh_0G_a ptsPath : NA08_Laserscannin^terrestrial\projekte^FS^F_Scans\WinkelGenauigkeit\06Ci517_C713\sh\pts_temp--> See Output-Files AdjustemtSphere FinishedFigure CI: Microsoft Windows® application for adjustment of spheres.
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DISS. ETH NO. 17036Calibration of a
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ZusammenfassungSeit einigen Jahren
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ContentsAbstractiiiZusammenfassungv
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Contentsix6.1.3 Results Ill6.2 Stat
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1Introduction1.1 Terrestrial Laser
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1.2 Motivation 3Precision [m10~1 "1
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6 1. Introduction
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8 2. Components of Terrestrial Lase
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10 2. Components of Terrestrial Las
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24 3. Calibration of Terrestrial La
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'28 3. Calibration of Terrestrial L
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"[m] of system 90%) 3540 distance b
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!36 3. Calibration of Terrestrial L
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138 3. Calibration of Terrestrial L
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Inormal axis,intersectionpoint axis
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j/-*'.-,•66 3. Calibration of Ter
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74 4. Static Laser Scanning4.1.2 Mi
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76 4. Static Laser ScanningOptical
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78 4. Static Laser Scanningmaximum
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80 4. Static Laser Scanningand gene
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82 4. Static Laser Scanning• Ther
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84 4. Static Laser Scanning4.3.3 NU
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86 4. Static Laser Scanning
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88 5. Kinematic Laser Scanningmirro
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Page 116 and 117: propagationresults series Taylorter
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Page 122 and 123: 112 6. Applications of Terrestrial
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Page 142 and 143: 132 7. Summaryrange, achievable by
Page 144 and 145: 134 7. Summary
Page 146 and 147: 136 A. Imaging System of Imager 500
Page 148 and 149: 138 B. Technical Data of Imager 500
Page 152 and 153: 142 C. Adjustment of Sphere
Page 154 and 155: 144 D. Electronic Circuit for Deter
Page 156 and 157: aMulti-SensorPlatform,PhDGeodesy Sw
Page 158 and 159: Accuracy-AeinTPS1200 AG, -Version 1
Page 160 and 161: -GenauigkeitsbetrachtungenInvestiga
Page 162 and 163: 152 BibliographyWunderlich, T. A. [
Page 164 and 165: List of Figures3.22 Residuals of th
Page 166 and 167: 156 List of Figures
Page 168 and 169: 158 List of Tables
Page 171: 200220072002Curriculum VitaePersona
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