3D Point Cloud Generation Based on Multi-Sensor Fusion

Traditional precise engineering surveys adopt manual static, discrete observation, which cannot meet the dynamic, continuous, high-precision and holographic fine measurements required for large-scale infrastructure construction, operation maintenance, where mobile laser scanning technology is becoming popular. However, in environments without GNSS signals, it difficult to use obtain 3D data. We fused a scanner with an inertial navigation system, odometer inclinometer establish track measurement systems. The control point constraints Rauch-Tung-Striebel filter smoothing were fused, cloud generation method based on multi-sensor fusion was proposed. verified experimental data; average deviation of positioning errors horizontal elevation directions 0.04 m 0.037 m, respectively. Compared stop-and-go mode Amberg GRP series trolley, this greatly improved efficiency; compared generating absolute coordinate system tunnel design data conversion, accuracy. It effectively avoided deformation tunnel, sharp increase more accurately quickly processed This provided better support subsequent analysis such as display, as-built surveying disease management rail transit tunnels.