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Izvestiya Vysshikh Uchebnykh Zavedenii. Elektronika

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The LiDAR technology allows determining the distance to objects by measuring radiation pulse reflection time and therefore recreates a virtual map (point cloud). However, LiDAR system without inertial satellite navigation system allowing calculation of its position and spatial orientation cannot construct point cloud correctly because LiDAR system determines only the distance to objects. Integrated system synchronizes in time the LiDAR system and inertial satellite navigation system data upon which it converts LiDAR system data to the global coordinate system UTM and creates point cloud. In this work, an integrated laser scanning system including inertial satellite navigation system based on MEMS sensors and LiDAR system, and a point cloud construction algorithm are presented. An integrated scanning system was designed using inertial MEMS sensors, global navigation satellite system and LiDAR system, on data from which a point cloud was constructed using specialized software. A prototype of this system was successfully tested on a ground-mounted carrier. Based on the test data, the practical and theoretical errors of the system were estimated. The errors’ mismatch is due to discrepancy between the scanning system’s practical positioning error and theoretical error. Further research of this topic is to develop an automatic algorithm for minimizing errors by selecting the rotation angles of the inertial satellite navigation system and LiDAR system.
Alexander A. Galkin
National Research University of Electronic Technology (Russia, 124498, Moscow, Zelenograd, Shokin sq., 1); “Laboratory of Microdevices” LLC (Russia, 124527, Moscow, Zelenograd, Solnechnaya alley, 6)
Pavel V. Erkin
National Research University of Electronic Technology (Russia, 124498, Moscow, Zelenograd, Shokin sq., 1); “Laboratory of Microdevices” LLC (Russia, 124527, Moscow, Zelenograd, Solnechnaya alley, 6)
Valerii P. Zaharov
National Research University of Electronic Technology (Russia, 124498, Moscow, Zelenograd, Shokin sq., 1); “Laboratory of Microdevices” LLC (Russia, 124527, Moscow, Zelenograd, Solnechnaya alley, 6)
Nadezhda A. Solomkina
National Research University of Electronic Technology (Russia, 124498, Moscow, Zelenograd, Shokin sq., 1); “Laboratory of Microdevices” LLC (Russia, 124527, Moscow, Zelenograd, Solnechnaya alley, 6)
Alexey S. Timoshenkov
“Laboratory of Microdevices” LLC (Russia, 124527, Moscow, Zelenograd, Solnechnaya alley, 6)
Sergey P. Timoshenkov
National Research University of Electronic Technology (Russia, 124498, Moscow, Zelenograd, Shokin sq., 1)
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