MOBILE LASER SCANNING WITH LOW-COST NAVIGATION SENSORS: COMPENSATING FOR LOW-GRADE IMU WITH DUAL-GNSS AND TIGHTLY-COUPLED LIDAR

Abstract. Kinematic laser scanning enables efficient and accurate acquisition of 3D data, specifically point clouds. Transforming the ranging measurements from scanner coordinate system to a georeferenced requires integration with auxiliary navigation systems, in this case using GNSS (global satellite system) an IMU (inertial measurement unit). data are commonly fused via Kalman filter, resulting trajectory is used for georeferencing. Errors propagate through georeferencing cause discrepancies cloud. To mitigate this, we present holistic method incorporating GNSS, LiDAR single adjustment, which can be seamlessly adapted setup two receivers antennas. This tight coupling together dual-GNSS allows use ultra low-cost while still achieving high-quality We demonstrate methodology on datsets, where discuss particular boresight calibration such system, impact set-up