An autonomous ultra-wide band-based attitude and position determination technique for indoor mobile laser scanning

Lawrence Lau*, Yiming Quan, Jingjing Wan, Ning Zhou, Conghua Wen, Nie Qian, Faming Jing

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

16 Citations (Scopus)


Mobile laser scanning (MLS) has been widely used in three-dimensional (3D) city modelling data collection, such as Google cars for Google Map/Earth. Building Information Modelling (BIM) has recently emerged and become prominent. 3D models of buildings are essential for BIM. Static laser scanning is usually used to generate 3D models for BIM, but this method is inefficient if a building is very large, or it has many turns and narrow corridors. This paper proposes using MLS for BIM 3D data collection. The positions and attitudes of the mobile laser scanner are important for the correct georeferencing of the 3D models. This paper proposes using three high-precision ultra-wide band (UWB) tags to determine the positions and attitudes of the mobile laser scanner. The accuracy of UWB-based MLS 3D models is assessed by comparing the coordinates of target points, as measured by static laser scanning and a total station survey.

Original languageEnglish
Article number155
JournalISPRS International Journal of Geo-Information
Issue number4
Publication statusPublished - Apr 2018


  • Attitude
  • Building Information Modelling (BIM)
  • Indoor positioning
  • Mobile laser scanning (MLS)
  • Point cloud
  • Position determination
  • Ultra-wide band (UWB)

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