A laser scanner vehicle for mapping the surrounding environment of said vehicle during a travelled route, as well as a corresponding method.

摘要

A laser scanner vehicle for mapping the surrounding environment of said vehicle during a travelled route, said vehicle comprising a global positioning system arranged for providing positioning data by determining an absolute geographical position of said vehicle during said travelled route, an inertial navigation system arranged for providing inertial data by determining a relative position, relative orientation and/or relative velocity of said vehicle during said travelled route, at least three separate laser scanner devices, each of which arranged to provide laser data by laser scanning said surrounding environment of said vehicle during said travelled route and by determining direction information and distance information of individual points in said surrounding environment, a computer system for mapping the surrounding environment of said laser scanner vehicle using said positioning data, said inertial data and said laser data, wherein said computer system is further arranged to detect, in real-time, abnormalities in said inertial data by comparing a geographical position of said vehicle obtained by only said provided positioning data with a geographical position of said vehicle obtained by only said provided inertial data.