中文摘要：

针对GPS/INS/CCD相机集成的车载三维数据采集系统,给出了系统精确的直接定位方程,并将罗德里格矩阵用到系统的绝对标定中,推导了定位方程中所需的相机坐标系和惯导载体坐标系之间的平移与旋转参数的求解公式。然后,根据误差传播定律,推导了X、Y、Z三个方向上的坐标误差公式及点位误差公式。实验结果表明,本标定方法意义明确,计算过程简单,具有较高的标定精度,对实际应用具有重要的价值。

英文摘要：

Direct positioning and data acquisition system, composed of global positioning system （GPS）, inertial navigation system （INS）, laser ranging technique and digital photogrammetry, is a fast data acquiring technique developed in recent years. And the vehicle- borne 3D data acquisition system based on this technique is paid attention by more and more people. The direct positioning equation, which can directly work out 3D coordinates of pixel is presented. Roderick matrix is used in absolute calibration of the system to work out shift and rotation parameters, indispensable for the equation, between camera and INS-carrier coordinates datums. Then formulas for errors of 3D coordinates and point location are deduced according to the error propagation law. The experimental results show that proposed calibration method has clear physical meaning, simple calculating process and high precision.