题目/Title：基于单纯形的移动测绘系统初始安装校准方法
                        Calibrating the Alignment Error for Mobile Mapping System Using the Simplex Algorithm during initial Installation

作者/Author：赵凯,谢翔,李国林,陈文首,任仡奕
                        Kai Zhao,Xiang Xie,Guolin Li,Wenshou Chen,Yiyi Ren

期刊/Journal：仪器仪表学报 Chinese Journal of Scientific Instrument

年份/Issue Date：2012.Sept.

卷（期）及页码/Volume（No.）&pages：Vol.33, No.9, pp. 2094 - 2100

摘要/Abstract：
提出了一种有效的方法用于解决低成本移动测绘系统（Mobile Mapping System, MMS）初始安装中全球定位系统 (Global Positioning System, GPS)和激光雷达（Light Detection And Ranging，LiDAR）对准误差的校准问题。MMS的校准问题首先被转换成求解多变量非线性目标函数的极小值问题，之后利用Nelder-Mead单纯形直接搜索方法求解该极小值。经过实验，校准后点云图像的相对测量误差（本文定义为空间某一点经激光雷达前后两次扫描所得两点之
This paper presents a new method of calibrating the alignment error between GPS (Global Positioning System) and LiDAR (Light Detection And Ranging) for a low cost MMS (Mobile Mapping System) during initial installation. Through a detailed mathematical analysis, the calibration problem is transformed into searching the minimum value of a nonlinear multivariable objective function. Thus, a new method is proposed as a solution to this problem. That is the Nelder-Mead simplex direct search algorithm. After calibration, the average reduction of point cloud data relative error (The distance between two points witch obtain from scanning one point in the space twice by LiDAR) is 3.85cm(within 40m range from LiDAR). The maximum relative error reduces from 8.55cm to 4.76cm. It is less than 5cm and meets the accuracy requirement in three-dimensional urban mapping.