Performance Evaluation of Vehicle-Based POS by Hybrid Use of Total Station and Laser Tracker System

Abstract

Position and Orientation System (POS) is one of the most important parts of mobile mapping system, whose position and orientation accuracy has raised lots of attention. Many researches have been carried on improving the accuracy of POS, but less have been carried on testing the accuracy of POS, whose tests depend greatly on manufacturer and lack public and systematic method. According to this situation this paper analyzes the calibration techniques for testing the dynamic position accuracy of POS. The methods of counting the time of single measurement and curve fitting have been used for eliminating gross error from the raw observation data. The algorithm of ICP (Iterative Closest Point) is used for modifying the trajectory of total station system, which is realized by the comparison between high-accuracy trajectory of laser tracking system and that of total station system, to enhance the accuracy of dynamic surveying. Overall trajectory comparison and real-time comparison are used for testing the dynamic position accuracy of POS. Outdoor experiments have been carried out to verify the feasibility that this calibration method can be used for testing the dynamic position accuracy of POS.