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The perfect knowledge about the scanned object’s geometry is essential for the empirical analysis of the stochastic properties of terrestrial laser scanners (TLSs). The Bonn reference wall is intended to be used as a reference for TLS quality investigations. Therefore, it is necessary to know the geometry of the wall at each time of scanning to avoid the misinterpretation of possible movements as systematic effects in the scanner. For this reason, we investigate the stability of the Bonn reference wall in this study. This includes the definition of a geodetic datum, the quantification of displacements, and the establishment of a suited deformation model. Since we discover a movement of about 1 mm within one day and up to 7 mm over the year, it is necessary to establish a cause-response deformation model to correct the wall movements in the scans. This study proposes two dynamic deformation models to compensate for the movements of the wall within one day and within a year. Our results show that it is better to measure the initial geometry of the wall each day since 89 % of the relative movements can be reduced to a maximum of 0.25 mm with a standard deviation of 0.16 mm (0.23 mm without modeling). If the shape is not initially known each day, the standard deviation of the displacements can be reduced from 1.10 mm to 0.61 mm, but the largest residuals still amount up to 2.5 mm, which is not sufficient for stochastic TLS investigations.

Deformations of the reflectors of radio telescopes used in geodetic and astrometric VLBI observations belong to the class of systematic error sources which affect the estimated position of the telescope and which necessitates correction at the observation level. The determination of the gravitationally induced deformations requires some effort and needs specific modeling of the impact on the VLBI delay observables. This has been exercised on the Onsala 20 m radio telescope. In this publication, we present an elevation-dependent model for the contributions of the gravitational deformations to the delay observables for application in VLBI data analysis. New is that thermal expansion in some of the contributing components need to be applied also to the gravitational deformation effects. A further novelty is that we can substantiate the validity of and the need for these corrections. Concerning the validity we show that the empirical model used by astronomical colleagues for deliberately shifting the sub-reflector for gain optimization, exactly (within 0.5 mm RMS) matches the measured gravitationally induced displacement of the sub-reflector plus the change in focal length. The other evidence is the impact on the vertical component of the telescope’s coordinates of − 6.1 mm, which reduces the discrepancy determined in the computations of the ITRF2014 to 1.7 mm.

Terrestrial laser scanner (TLS) measurements are unavoidably affected by systematic influences due to internal misalignments. The magnitude of the resulting errors can exceed the magnitude of random errors significantly deteriorating the quality of the obtained point clouds. Hence, the task of calibrating TLSs is important for applications with high demands regarding accuracy. In recent years, multiple in-situ self-calibration approaches were derived allowing the successful estimation of up-to-date calibration parameters. These approaches rely either on using manually placed targets or on using man-made geometric objects found in surroundings. Herein, we widen the existing toolbox with an alternative approach for panoramic TLSs, for the cases where such prerequisites cannot be met. We build upon the existing target-based two-face calibration method by substituting targets with precisely localized 2D keypoints, i.e. local features, detected in panoramic intensity images using the Förstner operator. To overcome the detriment of the perspective change on the feature localization accuracy, we estimate the majority of the relevant calibration parameters from a single station. The approach is verified on real data obtained with the Leica ScanStation P20. The obtained results were tested against the affirmed target-based two-face self-calibration. Analysis proved that the estimated calibration parameters are directly comparable both in the terms of parameter precision and correlation. In the end, we employ an effective evaluation procedure for testing the impact of the calibration results on the point cloud quality.

The target-based point cloud registration and calibration of terrestrial laser scanners (TLSs) are mathematically modeled and solved by the least-squares adjustment. However, usual stochastic models are simplified to a large amount: They generally employ a single point measurement uncertainty based on the manufacturers’ specifications. This definition does not hold true for the target-based calibration and registration due to the fact that the target centroid is derived from multiple measurements and its uncertainty depends on the detection procedure as well. In this study, we empirically investigate the precision of the target centroid detection and define an empirical stochastic model in the form of look-up tables. Furthermore, we compare the usual stochastic model with the empirical stochastic model on several point cloud registration and TLS calibration experiments. There, we prove that the values of usual stochastic models are underestimated and incorrect, which can lead to multiple adverse effects such as biased results of the estimation procedures, a false a posteriori variance component analysis, false statistical testing, and false network design conclusions. In the end, we prove that some of the adverse effects can be mitigated by employing the a priori knowledge about the target centroid uncertainty behavior.

In geodetic very long baseline interferometry, pairs of radio telescopes simultaneously observe signals from quasi stellar objects to estimate the baseline between their reference points. Gravity-dependent variations of the radio telescopes’ reference points deteriorate the estimated baseline's accuracy since they lead to signal path variations in the radio telescopes. This study investigates a new concept for determining the stability of a radio telescope's reference point. Differing to previously used strategies, this concept is able to reveal instabilities due to an elevation-dependent tumbling of the telescope independent from the part of the axis offset that is constant for all elevation angles. The new concept is exclusively based on terrestrial laser scanning that at the same time is used for analyzing the main reflector's shape deformation. We applied this concept to the Onsala Space Observatory (OSO) 20-m radio telescope: The results show that we cannot disprove the reference point's stability. In general, our new strategy can be transferred to also investigate the stability of other radio telescopes’ reference points. A prerequisite for this strategy is that the laser scanner – that moves between the elevation angles – observes identical objects from different stations. These objects need to be stable during all measurements. In the case of the OSO 20-m radio telescope, the radome is used for this purpose.

This article investigates the usage of terrestrial laser scanner (TLS) point clouds for monitoring the gradual movements of soil masses due to freeze–thaw activity and water saturation, commonly referred to as solifluction. Solifluction is a geomorphic process which is characteristic for hillslopes in (high-)mountain areas, primarily alpine periglacial areas and the arctic. The movement can reach millimetre-to-centimetre per year velocities, remaining well below the typical displacement mangitudes of other frequently monitored natural objects, such as landslides and glaciers. Hence, a better understanding of solifluction processes requires increased spatial and temporal resolution with relatively high measurement accuracy. To that end, we developed a workflow for TLS point cloud processing, providing a 3D vector field that can capture soil mass displacement due to solifluction with high fidelity. This is based on the common image-processing techniques of feature detection and tracking. The developed workflow is tested on a study area placed in Hohe Tauern range of the Austrian Alps with a prominent assemblage of solifluction lobes. The derived displacements were compared with the established geomonitoring approach with total station and signalized markers and point cloud deformation monitoring approaches. The comparison indicated that the achieved results were in the same accuracy range as the established methods, with an advantage of notably higher spatial resolution. This improvement allowed for new insights considering the solifluction processes.

The accuracy of georeferenced TLS point clouds is directly influenced by site-dependent GNSS effects, deteriorating the accuracy of the ground control point coordinate estimation. Especially under challenging GNSS conditions, this is a crucial problem. One common approach is to minimize these effects by longer observation durations, which in turn increases the effort in time and cost. In this paper, an algorithm is proposed that provides accurate georeferencing results, even under challenging measurement conditions and short observation durations. It iteratively improves the georeferencing accuracy by determining and applying obstruction adaptive elevation masks to the GNSS observations. The algorithm is tested and assessed using the data of a field test. It is demonstrated that after only 5 minutes observation duration, the ground control point coordinates can be estimated with an accuracy of 1 to 2 cm, independent from the GNSS measurement conditions. Initial states of the elevation masks are determined from a point cloud that is georeferenced using coordinates from a single point positioning solution, enhanced by a RAIM-FDE approach. Afterwards, the coordinates are estimated in a weighted least-squares baseline solution and both, the elevation masks and the coordinate estimation, are iteratively improved. Besides the significant reduction of measurement time, the proposed algorithm allows for increasing the amount of ground control points and can be applied to other direct or indirect GNSS-based georeferencing approaches.

The ability to acquire rapid, dense and high quality 3D data has made terrestrial laser scanners (TLS) a desirable instrument for tasks demanding a high geometrical accuracy, such as geodetic deformation analyses. However, TLS measurements are influenced by systematic errors due to internal misalignments of the instrument. The resulting errors in the point cloud might exceed the magnitude of random errors. Hence, it is important to assure that the deformation analysis is not biased by these influences. In this study, we propose and evaluate several strategies for reducing the effect of TLS misalignments on deformation analyses. The strategies are based on the bundled in-situ self-calibration and on the exploitation of two-face measurements. The strategies are verified analyzing the deformation of the Onsala Space Observatory’s radio telescope’s main reflector. It is demonstrated that either two-face measurements as well as the in-situ calibration of the laser scanner in a bundle adjustment improve the results of deformation analysis. The best solution is gained by a combination of both strategies.

Portable coordinate measuring arms (CMA) represent a special class of coordinate measuring machines providing high accuracy combined with high flexibility. To obtain high accurate and reliable 3D coordinates, the kinematic model has to represent precisely the mechanical construction of the CMA. Thus, a reliable and accurate calibration is essential to preserve the CMA's accuracy. However, due to its redundant characteristics, estimating the kinematic parameters has to deal with linear dependencies and, therefore, with rank deficiencies. A profound statistical analysis of the existing calibration approaches has not yet been performed. For this reason, this paper introduces an innovative and replicable least-squares calibration approach based on the general case of adjustment (Gaus–Helmert model). This rigorous optimization procedure integrates the original observations and enables a statistical evaluation of the estimated parameters as well as of each observation, based on the configuration analysis. The applicability of the approach is proofed using simulated and real measuring data. Thanks to the configuration analysis and supported by experimental results, it is shown that an accurate solution of the calibration can be obtained using measurements only located in a small part of the workspace.

Mobile laser scanning has become an established measuring technique that is used for many applications in the fields of mapping, inventory, and monitoring. Due to the increasing operationality of such systems, quality control w.r.t. calibration and evaluation of the systems becomes more and more important and is subject to on-going research. This paper contributes to this topic by using tools from geodetic configuration analysis in order to design and evaluate a plane-based calibration field for determining the lever arm and boresight angles of a 2D laser scanner w.r.t. a GNSS/IMU unit (Global Navigation Satellite System, Inertial Measurement Unit). In this regard, the impact of random, systematic, and gross observation errors on the calibration is analyzed leading to a plane setup that provides accurate and controlled calibration parameters. The designed plane setup is realized in the form of a permanently installed calibration field. The applicability of the calibration field is tested with a real mobile laser scanning system by frequently repeating the calibration. Empirical standard deviations of ∘ for the boresight angles are obtained, which was priorly defined to be the goal of the calibration. In order to independently evaluate the mobile laser scanning system after calibration, an evaluation environment is realized consisting of a network of control points as well as TLS (Terrestrial Laser Scanning) reference point clouds. Based on the control points, both the horizontal and vertical accuracy of the system is found to be < 10 mm (root mean square error). This is confirmed by comparisons to the TLS reference point clouds indicating a well calibrated system. Both the calibration field and the evaluation environment are permanently installed and can be used for arbitrary mobile laser scanning systems.

Calibration of terrestrial laser scanners (TLSs) is one of the fundamental tasks for assuring the high measurement accuracy required by an increasing number of end-users. Nevertheless, the development of user-oriented calibration approaches is still an active topic of research. The calibration fields for the target-based self-calibration of TLSs described in the literature are based on the quasi-random distribution of a high number of targets, and they rely on heavy redundancy. This redundancy assures highly accurate calibration results, however, with the price of reduced efficiency. In contrast, this work follows the design, implementation, and validation of a user-oriented, cost-efficient calibration field intended for TLS calibration prior to measurement campaigns. Multiple goals and constraints are placed upon the design of the calibration field, such as comprehensive calibration for high-end panoramic TLSs considering all relevant mechanical misalignments, delivering stable and reusable calibration parameters, increasing calibration efficiency by minimizing calibration-field assembly, measurement acquisition and processing time through reducing the number of targets and scanner stations, as well as estimating calibration parameters with predefined quality criteria. The calibration field design was derived through a series of simulation experiments and it was compared with the current state of the art. The simulations indicate comparable calibration results, with eight times smaller number of targets (14 instead of 120). The implemented calibration field was tested on a range of instruments, successfully improving the measurement quality, both in situ and in the subsequent applications.

As laser scanning technology has improved a lot in recent years, terrestrial laser scanners (TLS) have become popular devices for surveying tasks with high accuracy demands, such as deformation analyses. For this reason, finding a stochastic model for TLS measurements is very important in order to get statistically reliable results. The measurement accuracy of laser scanners&mdash, especially of their rangefinders&mdash, is strongly dependent on the scanning conditions, such as the scan configuration, the object surface geometry and the object reflectivity. This study demonstrates a way to determine the intensity-dependent range precision of 3D points for terrestrial laser scanners that measure in 3D mode by using range residuals in laser beam direction of a best plane fit. This method does not require special targets or surfaces aligned perpendicular to the scanner, which allows a much quicker and easier determination of the stochastic properties of the rangefinder. Furthermore, the different intensity types&mdash, raw and scaled&mdash, intensities are investigated since some manufacturers only provide scaled intensities. It is demonstrated that the intensity function can be derived from raw intensity values as written in literature, and likewise&mdash, in a restricted measurement volume&mdash, from scaled intensity values if the raw intensities are not available.

For accurate astronomic and geodetic observations based on radio telescopes, the elevation-dependent deformation of the radio telescopes’ main reflectors should be known. Terrestrial laser scanning has been used for determining the corresponding changes of focal lengths and areal reflector deformations at several occasions before. New in this publication is the situation in which we minimize systematic measurement errors by an improved measurement and data-processing concept: Sampling the main reflector in both faces of the laser scanner and calibrating the laser scanner in situ in a bundle adjustment. This concept is applied to the Onsala Space Observatory 20-m radio telescope: The focal length of the main reflector decreases by 9.6 mm from 85 ∘ to 5 ∘ elevation angle. Further local deformations of the main reflector are not detected.

Terrestrial laser scanner measurements suffer from systematic errors due to internal misalignments. The magnitude of the resulting errors in the point cloud in many cases exceeds the magnitude of random errors. Hence, the task of calibrating a laser scanner is important for applications with high accuracy demands. This paper primarily addresses the case of panoramic terrestrial laser scanners. Herein, it is proven that most of the calibration parameters can be estimated from a single scanner station without a need for any reference information. This hypothesis is confirmed through an empirical experiment, which was conducted in a large machine hall using a Leica Scan Station P20 panoramic laser scanner. The calibration approach is based on the widely used target-based self-calibration approach, with small modifications. A new angular parameterization is used in order to implicitly introduce measurements in two faces of the instrument and for the implementation of calibration parameters describing genuine mechanical misalignments. Additionally, a computationally preferable calibration algorithm based on the two-face measurements is introduced. In the end, the calibration results are discussed, highlighting all necessary prerequisites for the scanner calibration from a single scanner station.

Target-based calibration is the most widely used calibration procedure for terrestrial laser scanners. Nevertheless, the current implementations of this procedure are suboptimal due to the high complexity of their calibration fields. Therefore, designing calibration fields, by selecting optimal target locations with respect to the instrument, is a pending research question. Answering this question would lead to a more efficient and user-friendly calibration, as well as improved calibration results. Herein, we conduct a detailed analysis of the most sensitive target-to-instrument measurement configuration to estimate individual calibration parameters. Based on this analysis, we derive a minimal measurement geometry, sensitive to all mechanical misalignments, relevant for high-end panoramic terrestrial laser scanners. We support our sensitivity analysis by a simulation and empirical experiments followed by a discussion about the advantages and shortcomings of the proposed minimal measurement geometry.

During the registration and georeferencing of terrestrial laser scans, it is common to use targets to mark discrete points. To improve the accuracy of the registration, the uncertainties of the target center estimation (TCE) have to be minimized. The present study examines different factors influencing the precision of the TCE. Here, the focus is on the algorithm and the target design. It is determined that, in general, the uncertainties of the TCE are much smaller than those indicated by the manufacturers. By comparing different algorithms for the first time, it was possible to clearly determine that an algorithm using image correlations yields the smallest standard deviations for the TCE. A comparison of different target designs could not identify an ideal commercially available target. For this reason, a new target, the BOTA8 (BOnn TArget with 8-fold pattern) was developed, which leads to smaller standard deviations than the previous targets. By choosing the best algorithm and improving the target design, standard deviations of 0.5 mm in distance direction and 1.2 arcsec in angular direction for a scan distance up to 100 m were achieved with the laser scanner Leica ScanStation P20. The uncertainties could be reduced by several millimetres and angular seconds compared to the manufacturer’s targets and software.

Kinematic laser scanning with moving platforms has been used for the acquisition of 3D point clouds of our environment for many years. A main application of these mobile systems is the acquisition of the infrastructure, e.g., the road surface and buildings. Regarding this, the distance between laser scanner and object is often notably shorter than 20 m. In the close range, however, divergent incident laser light can lead to a deterioration of the precision of laser scanner distance measurements. In the light of this, we analyze the distance precision of the 2D laser scanner Z + F Profiler 9012A, purpose-built for kinematic applications, in the range of up to 20 m. In accordance with previous studies, a clear dependency between scan rate, intensity of the backscattered laser light and distance precision is evident, which is used to derive intensity-based stochastic models for the sensor. For this purpose, a new approach for 2D laser scanners is proposed that is based on the static scanning of surfaces with different backscatter. The approach is beneficial because the 2D laser scanner is operated in its normal measurement mode, no sophisticated equipment is required and no model assumptions for the scanned surface are made. The analysis reveals a lower precision in the range below 5 m caused by a decreased intensity. However, the Z + F Profiler 9012A is equipped with a special hardware-based close range optimization partially compensating for this. Our investigations show that this optimization works best at a distance of about 2 m. Although increased noise remains a critical factor in the close range, the derived stochastic models are also valid below 5 m.

Due to improved laser scanning technology, laser scanner based deformation analyses are presently widespread. These deformation analyses are no longer based on individual points representing the deformation of an object at selected positions. Instead, they are based on a large number of scan points sampling the whole object. This fact either leads to challenges regarding metrological aspects as well as regarding modeling aspects