机载激光雷达系统是集激光扫描仪、全球定位系统和惯性导航系统等于一体的多传感器集成系统。机载激光雷达的检校和标定是保证激光点云定位精度的关键环节,其中扫描系统安置角误差是影响定位精度的主要因素之一。首先介绍了国产中远程机载激光雷达Mars-LiDAR系统, 然后基于误差传播定律对系统误差进行了分析。研究了系统安置角误差的飞行检校方法, 采用外场定标的方法将安置角进行动态分离, 并通过飞行试验完成了系统安置角误差的动态检校, 对Mars-LiDAR系统在3000 m、4000 m飞行高度获取的点云进行了定位精度分析和校正, 验证了Mars-LiDAR系统安置角误差检校方法的实用性。

Airborne LiDAR system is a multi-sensor integrated system, including laser scanner, global positioning system, inertial navigation system, and so on. One of the key point to obtain high positioning accuracy of laser point cloud is the airborne LiDAR calibration. And the installation angle error of laser scanner is one of the main factors which influence the measurement accuracy. Based on the working principle of airborne LiDAR system, a domestic medium range system Mars-LiDAR was developed. According to the error propagation law, the effects of measurement error and hardware installation error were analyzed. A method using different calibration field to separate installation angle errors between laser scanner and inertial navigation system was proposed. At the height of 3 000 m and 4 000 m, the high positioning accuracy was obtained, satisfying the specifications of data acquisition of airborne LiDAR. Finally the test data verified the utility, reliability and feasibility of the error calibration method by using practical engineering application.