中文摘要：

直升机载荷平台6-D（Six-Dimensional）运动误差（即飞行轨迹和姿态角运动误差）对机载LiDAR点云质量影响显著，进而影响三维重建模型精度。分析各运动误差对点云质量的影响特点，对于有针对性地消除各运动误差影响、有效提高机载LiDAR三维成像产品精度具有重要意义。建立了机载激光扫描脚点三维空间位置偏差与机载平台六方位运动误差之间的传递关系；采用数值仿真，定量比较了六方位运动误差对激光点云密度分布和的影响，获得了六方位运动误差的影响特点及规律。仿真结果表明，直升机载荷平台的三个姿态角运动误差对点云密度的影响更显著，且随飞行高度的增大而增大，而三个飞行轨迹运动误差的影响相对较小。

英文摘要：

The six-dimensional（6-D） motion errors of helicopter loading platform（including three-dimensional （3-D） flight trajectory and 3-D attitude angle motion errors） have significant effects on point density and coverage area of the obtained laser point cloud from helicopter-borne LiDAR. Quantitatively comparing the influence characteristics of each of the 6-D motion errors on quality of the laser point cloud, has practical significance for eliminating the effects of these motion errors and for improving accuracy of the reconstructed 3-D imaging products. The transfer relationships between the 3-D position errors of the laser points and the 6-D motion errors were established. Through numerical simulation experiment, changes of point density and coverage area of the laser point cloud caused by the 6-D motion errors were quantitatively evaluated respectively and transversely compared. Simulation experimental results show that, the effects of the 3-D attitude angle motion errors are more significant, and also increase with increasing flight height; while the impacts of the 3-D flight trajectory motion errors are much smaller.