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Bulletin USAMV serie70(1-2)/2013
Print ISSN 1843-522! "le#tr$ni# ISSN 1843-53%
ROAD SURVEYING USING A MOBILE LASER SCANNING SYSTEM
tefan N.1), Marian D.P.), Vere!. I.S.")
1), 2), 3)Department of Mining Engineering, Surveying and Civil Engineering, University of Petrosani,
Romania, 1)mia!on"3#yaoo$!om,2)da!ian%top#yaoo$!om, 3)veresioel#yaoo$!om
A#$tra%t. &i'en tt* in te re#ent +ers* te te#ni,ue n te#n$l$.+ s n iressi'e
e'el$ent n te t$$.ri# esureent e,uient e#e in#resin.l+ s$isti#te* te 3
lser s#nnin. te#n$l$.+ is te ltest te#n$l$.+ in te iel* re'$luti$niin. te t$$.ri#
esureent te#ni,ue 6is te#n$l$.+ ll$s s$l'in. r$les tt triti$nl et$s $ul
re,uire e#essi'e #$sts $r it $ul e i$ssile t$ ulil "# s#nnin. $erti$n .enertes 9$int
#l$u:* $ints $se $siti$n is eine + te (* +* ) #$$rintes in te s#nner;s $n #$$rinte
s+ste Sin#e te lser s#nnin. s+ste is e,uie it n'i.ti$n s+ste (INS/&PS) te $ints#$$rintes ill e eine in te IA AS"> S@ANN">S
eenin. te + te+ re use* terrestril lser s#nners #n e i'ie in t$
#te.$ries= stti$nr+ n $ile
mailto:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]8/13/2019 Stefan&Marian&Veres - Road Surveying
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Terre$tria+ $%anner
In tis #se te lser s#nner (Ci. 1) is l#e $n $ne $r $re $ints $ Fn$n
#$$rintes
Ci. 1 >I"& VG-000 terrestril s#nner
6us + s#n uilin.* ri.e* n r#e$l$.i#l site* #n e $nit$re te
e'el$ent $ n $en it ine $r us et# estlisin.* eenin. $n te esire
##ur#+* te istn#e t$ te esure $e#t
"# s#nnin. $erti$n .enertes 9$int #l$u:* $ints $se $siti$n is eine
+ te (* +* ) #$$rintes in te s#nner;s $n #$$rinte s+ste Sin#e te lser s#nnin.
s+ste is e,uie it n'i.ti$n s+ste (INS/&PS) te $ints #$$rintes ill e eine
in te
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Principle of operation
6e $ulte li.t e is eitte + n ele#tr$ni# unit 1n eets te $ti#
eleent 2* i# r$ttes t i. see Cr$ te sur#e $ tis $ti#l eiu (i# s
te r$erties $ irr$r) lser e is rele#te n r$.tes uner se#ii# n.le 3(Ci.3)
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S$e s#nners re e,uie it i. res$luti$n i.itl #ers i# .i'es us te
s#nne i.e eenin. $n te sele#te n.le D2E
Ci. 4 S#nne uilin. D7E
M#i+e +a$er $%anner
6e $ile s#nner ter reers t$ te s#nner $unte $n n+ t+e $ $ilelt$r su# s 'ei#le (Ci. 5)* $t $r trin D3E
Ci. 5 >I"& VM%-250 $ile s#nner DE
Pr#ti#l li#ti$ns $ tis te#n$l$.+ 'e .r$n se#t#ulrl+ in te lst e#e
ese#ill+ e#use $ te re'$luti$nr+ r$.resses e in relte te#n$l$.ies su# s D11E=
- r$.resses e in &PS te#n$l$.+* i# ll$s us t$ eterine te $siti$n n
ire#ti$n $ $'eent $ te $ile lt$r it i. re#isi$n!
- e'el$ent $ ne ele#tr$-$ti#l n e#ni#l #$$nents $r lser s#nners le
t$ sustntil in#rese in te ,ulit+ $ iA> esureents er$re $n $ilelt$rs n e+$n!
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- e'el$ent $ s$tre r$.rs #le t$ r$#ess lr.e $unt $ t
Su# s#nners 'e een use* s$ r* in 'ri$us iels $ #ti'it+ liFe r$
esurin.* ril+s $r #$stl res D11E
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se#$n* enlin. te user t$ #$lle#t in s$rt eri$ tie i. ensit+ $ $ints it .ret
re#isi$n
6$ #ie'e i.er re#isi$n is i$rtnt tt te reeren#e stti$ns* ere re
l#e &PS re#ei'ers* t$ e l$#te s$ s t$ re te $e#ti'e tt ill e esure
(Ci.7) $ l$n.ituinll+ - in te #se $ #$uni#ti$n ts (Ci.7) - D1E
) )Ci. 7 6e l#eent t+e $ reeren#e stti$ns D1E
AI>B?>N" AS"> S@ANN">S
Air$rne lser s#nners (Ci. 8 D5E) re ,ui#F* ##urte n ei#ient s$luti$ns $
#$lle#tin. 3 t $n lr.e res su# s= .ri#ulturl len* $rest* et#
Ci. 8 Air$rne lser s#nnin. D5E
ser e'i#e l#e in lin $r eli#$ter eits lser e esurin. istn#e t$
te ert sur#e At te se tie* te lser e is l$#te + ens $ ierentil &PS
n inertil n'i.ti$n Interretin. ll te reters e .et in$rti$n $ut se#ii#
$int $n te ert;s sur#e
In tis #se te lser s#n e'i#e is l#e in lin $r eli#$ter* unliFe $ile
s#nnin. ere 'ei#le is use
6e in 'nt.es $ tis te#n$l$.+ re D5E=
- tie K tr$u. iA> te#n$l$.+ is $ssile t$ s#n lr.e res $ ln in 'er+ s$rt
tie Su# s+ste $unte $n lin $r eli#$ter is le t$ s#n n re $ r$itel+300F2* it 15# re#isi$n* itin 4 $ur li.t!
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- ut$ti$n $ $rF K tis te#n$l$.+ $es n$t re,uire reliinr+ $ser'ti$n $ te
esure $e#ti'e* .ettin. t$$.ri#l s e'en in less ##essile l#es!
- ultile $ti$ns K ut$ti# #$lle#ti$n $ te t in 'er+ s$rt tie $'er lr.e res*
enles esi.ners t$ #$nsier $re lternti'es $r te re,uire esi.n r$e#ts!
- $tinin. 3 terrin $el
SU>V"LIN& @?UN6>L >?A 543 USIN& A >I"& VM%-250
M?BI" AS"> S@ANNIN& SLS6"M
6$ esure r$ it $ile lser s#nnin. s+ste it is ne#essr+ t$ .$ tr$u.
te $ll$in. stes=
- esureent sessi$n lnnin. K it is te ut$st i$rtn#e* 'in. te r$le t$
eterine te $til tie t$ #ie'e esureents (ein. ne#essr+ i. 'ililit+ $
te stellites) n t$ re'ent unlesnt surrises!
- e,uient instllti$n n testin. K in tis st.e is initilise te lser s#nnin.
s+ste ( re #$ni.ure te t$ s#nners* is strte te &NSS n INS s+ste* re #lirtete #ers n inll+ te esureent strts)!
- l#in. te reeren#e stti$ns n #$ntr$l $ints >eeren#e stti$ns re $ints tt
el$n. t$ te trin.ulti$n net$rF* $ints stti$ne it &PS e,uient #le $
trnsittin. #$rre#ti$ns t$ te s#nnin. s+ste &PS re#ei'er A##$rin. t$ te t+e $ $
tt ill e #rrie $ut* te reeren#e stti$ns #n e l$#te l$n.ituinll+ (see i.ure 7)*
l$n. te tr.et tt ill e esure (in te #se $ #$uni#ti$n ts) $r it #$ul e
l#e r$un te re tt ill e s#nne (see i.ure 7)
- siultne$us t #$lle#ti$n= stti# &PS t (r$ te reeren#e stti$ns)* #ineti#
&PS t (r$ te &PS re#ei'er $ te lser s#nnin. s+ste)* inertil te* lser
esureents n i.itl i.es!
As e# $ tese t is #$lle#te in ierent #$$rinte s+stes (Ci. )* te relti$n
eteen tis t #$nsists $ tie t i# it s re#$re* ie te &PS tie (Ci.10)
Ci. ) IMU #$$rinte s+ste! ) i.itl #er #$$rinte s+ste
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Ci. 10 >elti$n eteen te esure t (&PS* IMU* lser t n i.e t)
6e inl result $ te r$#essin. is 3 relisti# $ te s#nne tr.et
(Ci.11* )
Ci. 11 3 relisti#
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Ci. 11 3 relisti#
t #n e e$rte s 2* 3 $el $r s 6M (i.itl 6errin M$el) In te
#se $ te 3 $el te t re e$rte s $int #l$u* in iles #$ntinin. ierent t+e
$ t (Ci. 12)
Ci. 12 A $int #l$u t ile t+e
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@?N@USI?N
In #ir#ustn#es ere* ltel+* te#ni,ue n te#n$l$.+ s e'el$e iressi'el+
n t$$.ri# esureent e,uient 'e e#$e in#resin.l+ s$isti#te te lser
s#nnin. te#n$l$.+ is te ltest inn$'ti$n in te iel6r$u. tis te#n$l$.+ #n e ut$ti#ll+ eterine te 3 se $ te
sur#e ($r $e#t)* it$ut rele#ti'e eiu* in 'er+ s$rt tie it i. re#isi$n
Mesureents re reresente s set $ $ints #lle in te se#ilie literture s
9$int #l$u:
As lst #$n#lusi$n* e #n s+ tt te lser s#nnin. te#n$l$.+ is i.l+ ei#ient
n ##urte ut te e,uient #,uisiti$n #$st is i. It is ee#te tt in te uture* ue t$
in#rese $er in te re n te#n$l$.i#l 'n#eent* tis is'nt.e t$ e re$'e
'!(noledgments$Se#il tnFs $r te Priul Meriin @$n+ n is n.in.
ire#t$r &?N6 @ristin inu
>"C">"N@"S
1 Bl$i N* Ciss.us H&* Mrin P (2012) Intr$u#ti$n t$ $ile lser s#nnin.*
Multiis#ilinr+ S+$siu 9UNIV">SI6A>IA SIMP>?:* Petr$ni!
2 @$sr# @* Neuner O* iules#u @ (2005) 6e use $ $ern esureent te#ni,ue t te
ist$ri#l sites in'ent$r+* &e$@A Internti$nl S+$siu* Al Iuli (in >$nin)!
3 Puente I* &$nle J* Aris P* Arest$ O (2011) n-se M$ile ser S#nnin.
S+stes= A >e'ie* Internti$nl S$#iet+ $r P$t$.retr+ n >e$te Sensin.* V$l %%%VIII-
5/