Analysis of Internal Angle Error of UAV LiDAR Based on Rotating Mirror Scanning

UAV LiDAR is a powerful tool for rapidly acquiring ground-based 3D spatial information and has been used in various applications. In addition to the ranging mechanism, scanning method also an important factor, affecting performance of LiDAR, internal angle error will seriously affect its measurement accuracy. Starting from rotary model single-sided mirror, this paper presents comparative study characteristics 45° mirror scanning, polygon prism tower wedge scanning. The sources quadrangular are analyzed detail, including deviation between direction emitted laser rotation axis (typical 0.13 ± 0.18° 0.85° 0.26°), mirror’s reflection plane axis, surface multiple surfaces 0.06°). As result, caused by can be as high decimeter meter, which cannot fully compensated simply adjusting installation LiDAR. After calibration error, standard elevation difference point cloud control only 0.024 m flight experiment at 300 altitude.