中文摘要：

对于大角度、大范围、复杂场景的快速扫描成像系统，除了要进行任意运动和动态采集建模外，还要对激光传感器的姿态和位置进行实时精确的描述．基于此要求，文中构建了一种基于小型无人直升机机栽激光扫描传感器的三维建模成像系统，并设计了一种分步式串级滤波算法，将激光测距传感器得到的距离信息，与小型无人直升机惯性导航系统解算的姿态与位置数据进行融合，实现空间扫描点到基准坐标系的映射，并完成2D行扫描到3D空间的扩展，建立现实世界的3D数字模型．

英文摘要：

The rapid scanning and mapping system for the large angle, large scale and complex scene requires not only the complete random motion, the real-time measurement data and dynamic modeling, but also the accurate pose and location information of the laser range scanner. According to this requirement, this paper constructs a 3D scanning and mapping system based on the laser ranging technology and the sensors are installed on a small unmanned helicopter. The sequential filter algorithm {uses the pose and location data coming from the inertia navigation system of the small unmanned helicopter with the ranging information by the laser range sensor, then converts the spatial scanning points to the reference coordinate system so that it can extend the 2D scanning line to the 3D space and establish the 3D digital model of real world.