Novel Aerial 3D Mapping System Based on UAV Platforms and 2D Laser Scanners

Table 1

Technical characteristics of the sensors used for 3D mapping in the Aerial System.

Spatial IMU	Trimble BD920	Hokuyo UTM-30LX	Pandaboard
3-axis accelerometer; 3-axis gyroscope; Magnetometer	220 channels GPS and GLONASS	Scanning principle: Time-of-Flight	Dual-core ARM Cortex-A9 a 1.2 GHz
	1 Ethernet, 4 Serial	Measurement range: <30 m
	Precision (RTK mode): 8 mm horizontal, 15 mm vertical	Measurement angle: 270°	1 GB DDR2 RAM
		Resolution: 0.25°/1 mm	2 USB, 1 Ethernet
Precision for orientation: <1°	Antenna Trimble AV34; Gain: 43 dB	Scanning rate: 40 Hz	LINUX OS
		Precision: 30 mm