ABSTRACT
This chapter addresses the georeferencing component of an airborne laser scanning systemml: a global positioning system (GPS) receiver and an inertial navigation system (INS). Starting with the general principle of kinematic modeling for a moving sensor, this chapter describes the mathematical equations for INS. Two strategies: the centralized filter and decentralized filter are then presented for the integration of GPS and INS. This chapter ends with the mathematical implementation for the georeferencing of LiDAR data.
