| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a laser scanner for traveling object navigation capable of performing position measurement with high accuracy.SOLUTION: A laser scanner 10 includes: an evaluation unit 30 for generating a measurement value indicating the presence/absence of a landmark and its direction on the basis of a light reception signal, and the evaluation unit calculates self-position data and navigation data from the measurement value. Also, the evaluation unit includes a correction unit 34 for measuring the rotation of a scanner with respect to the rotary shaft of a deflection unit 16, and for correcting the influence of the rotation to the measurement value. The correction unit measures the change of the inclination of the scanner with respect to at least one shaft making any angle other than 0 degree with the rotary shaft of the deflection unit by using the data of a rotational speed sensor 32. Furthermore, the correction unit includes a sensor 33 for detecting a linear speed and acceleration, and finally corrects an influence on the measurement value caused by the calculated additional rotary motion data and linear motion data.</p> |
