Fig. 1. Observation principle of terrestrial three-dimensional laser scanner

Fig. 2. Parameter differences and RMSE. (a) Translation parameter Δx; (b) translation parameter Δy; (c) translation parameter Δz; (d) rotation parameter Δφ; (e) rotation parameter Δω; (f) rotation parameter Δκ; (g) addition constant Δm; (h) multiplication constant Δλ; (i) aiming axis error Δc; (j) horizontal axis error Δi; (k) vertical axis error Δt; (l) RMSE

Fig. 3. RMSE of common point and check point. (a) x component of common point; (b) y component of common point; (c) z component of common point; (d) positional precision of common point; (e) x component of check point; (f) y component of check point; (g) z component of check point; (h) positional precision of check point

Table 1. True values of unknown parameters

Table 2. Prior information of original observations

Table 3. Calculation results of real data