Report for Multi-Station Adjustment

Report date: 2023-09-28

Generated by: Z640
Scope: standard report

Host application: RiSCAN PRO 64 bit v2.10.1

MSA module: 2.6.2-1803+e39854c1
Report module: 1.3.5

Platform: Windows-10-10.0.19041-SP0
Hostname: Alex

1 Project Summary
Project name: Primaria Grozesti
Global Coordinate Reference System (GLCS): WGS84 / Geocentric (EPSG::4978)
Report GLCS: Stereo 70(X=East) (EPSG::3844)
Project origin:
Easting [m]: 367177.7614
Northing [m]: 350280.3004
Height [m]: -39.8625
Project Coordinate System (PRCS): levelled Cartesian east, north, up system
GNSS Coordinate Reference Systems:
CRS#1 ... WGS84 / Geographic (EPSG::4979)
Report Coordinate System:
PRCS
number of scan positions: 28
instruments used:
instrument type: VZ-400i
serial number: H2223590

Page 2 / 13
Map Data © OpenStreetMap contributors

2 Data available in Project

2.1 Scandata

Horiz. Resolution Point Image Refl.

Name Date Time
FoV [deg] [mdeg] Count Count Scans
ScanPos001 2023-09-27 12:46:36 359.74 39.8 13,042,996 0 0
ScanPos002 2023-09-27 12:47:56 360.00 39.8 12,920,761 0 0
ScanPos003 2023-09-27 12:49:16 359.65 39.8 12,796,627 0 0
ScanPos004 2023-09-27 12:50:27 360.00 39.8 12,513,289 0 0
ScanPos005 2023-09-27 12:51:33 359.82 39.8 12,072,887 0 0
ScanPos006 2023-09-27 12:52:45 360.00 39.8 12,068,065 0 0
ScanPos007 2023-09-27 12:53:57 359.77 39.8 12,833,177 0 0
ScanPos008 2023-09-27 12:55:20 360.00 39.8 12,378,360 0 0
ScanPos009 2023-09-27 12:56:30 359.81 39.8 13,740,297 0 0
ScanPos010 2023-09-27 12:57:57 360.00 39.8 17,514,774 0 0

Page 3 / 13
 Horiz. Resolution Point Image Refl.
Name Date Time
FoV [deg] [mdeg] Count Count Scans
ScanPos011 2023-09-27 12:59:08 359.59 39.8 21,273,669 0 0
ScanPos012 2023-09-27 13:00:24 360.00 39.8 21,311,373 0 0
ScanPos013 2023-09-27 13:01:42 359.51 39.8 19,349,142 0 0
ScanPos014 2023-09-27 13:03:01 360.00 39.8 17,450,033 0 0
ScanPos015 2023-09-27 13:05:11 359.64 39.8 17,079,494 0 0
ScanPos016 2023-09-27 13:06:30 360.00 39.8 14,145,957 0 0
ScanPos017 2023-09-27 13:07:39 359.68 39.8 14,414,898 0 0
ScanPos018 2023-09-27 13:08:46 360.00 39.8 14,157,591 0 0
ScanPos019 2023-09-27 13:10:06 359.75 39.8 17,621,287 0 0
ScanPos020 2023-09-27 13:11:26 360.00 39.8 15,124,051 0 0
ScanPos021 2023-09-27 13:12:36 359.73 39.8 14,054,171 0 0
ScanPos022 2023-09-27 13:13:45 358.78 39.8 12,411,122 0 0
ScanPos023 2023-09-27 13:15:07 359.57 39.8 12,224,607 0 0
ScanPos024 2023-09-27 13:16:41 360.00 39.8 13,403,010 0 0
ScanPos025 2023-09-27 13:18:05 359.65 39.8 12,448,992 0 0
ScanPos026 2023-09-27 13:19:16 360.00 39.8 13,088,532 0 0
ScanPos027 2023-09-27 13:20:22 359.67 39.8 13,742,726 0 0
ScanPos028 2023-09-27 13:21:32 360.00 39.8 13,729,705 0 0

Total 408,911,593

2.2 GNSS Measurements

The VZ-400i acquired the following GNSS measurements at the following scan positions:

Altitude Horiz. Vert. Satel- Age of

Name CRS Latitude [deg] Longitude [deg] Nav. Sol.
[m] Acc. Acc. lites Corr.
RTK
ScanPos001 CRS#1 N44° 38' 23.466818" E23° 19' 26.870342" 221.5036 0.014 0.010 12 1.000
fixed
RTK
ScanPos002 CRS#1 N44° 38' 23.551894" E23° 19' 26.570584" 221.5017 0.014 0.010 12 1.000
fixed
RTK
ScanPos003 CRS#1 N44° 38' 23.805120" E23° 19' 26.253326" 221.5699 0.014 0.010 12 1.000
fixed
RTK
ScanPos004 CRS#1 N44° 38' 24.150909" E23° 19' 25.772873" 221.6556 0.014 0.013 12 1.000
fixed
RTK
ScanPos005 CRS#1 N44° 38' 24.424532" E23° 19' 25.412446" 221.8032 0.014 0.010 12 2.000
fixed
RTK
ScanPos006 CRS#1 N44° 38' 24.688360" E23° 19' 24.824641" 221.9038 0.014 0.010 12 1.000
fixed
RTK
ScanPos007 CRS#1 N44° 38' 24.870451" E23° 19' 24.965129" 221.9059 0.014 0.010 12 1.000
fixed
RTK
ScanPos008 CRS#1 N44° 38' 24.494793" E23° 19' 25.638489" 221.8697 0.014 0.010 12 1.000
fixed

Page 4 / 13
 Altitude Horiz. Vert. Satel- Age of
Name CRS Latitude [deg] Longitude [deg] Nav. Sol.
[m] Acc. Acc. lites Corr.
RTK
ScanPos009 CRS#1 N44° 38' 24.748687" E23° 19' 26.081014" 221.9713 0.014 0.010 12 1.000
fixed
RTK
ScanPos010 CRS#1 N44° 38' 24.651406" E23° 19' 26.322736" 222.0235 0.014 0.010 12 5.000
fixed
RTK
ScanPos011 CRS#1 N44° 38' 24.502015" E23° 19' 26.574983" 221.5462 0.014 0.010 12 1.000
fixed
RTK
ScanPos012 CRS#1 N44° 38' 24.580504" E23° 19' 26.892170" 221.6216 0.014 0.011 12 1.000
fixed
RTK
ScanPos013 CRS#1 N44° 38' 24.671762" E23° 19' 27.212500" 221.8880 0.014 0.012 12 1.000
fixed
RTK
ScanPos014 CRS#1 N44° 38' 24.679348" E23° 19' 27.465632" 221.9160 0.014 0.010 12 1.000
fixed
RTK
ScanPos015 CRS#1 N44° 38' 24.668621" E23° 19' 26.314634" 222.1537 0.014 0.011 12 8.000
float
RTK
ScanPos016 CRS#1 N44° 38' 25.097739" E23° 19' 26.282928" 221.9941 0.016 0.018 12 1.000
fixed
RTK
ScanPos017 CRS#1 N44° 38' 25.408993" E23° 19' 26.613744" 222.2976 0.016 0.020 12 1.000
fixed
RTK
ScanPos018 CRS#1 N44° 38' 25.576558" E23° 19' 26.856307" 222.5139 0.015 0.015 12 1.000
fixed
RTK
ScanPos019 CRS#1 N44° 38' 25.402244" E23° 19' 27.241857" 222.3980 0.026 0.048 12 1.000
fixed
RTK
ScanPos020 CRS#1 N44° 38' 25.683652" E23° 19' 26.993667" 222.8031 0.015 0.019 12 1.000
fixed
RTK
ScanPos021 CRS#1 N44° 38' 26.084451" E23° 19' 27.332869" 223.2355 0.014 0.016 12 1.000
fixed
RTK
ScanPos022 CRS#1 N44° 38' 26.322570" E23° 19' 27.135434" 223.3780 0.016 0.019 12 1.000
fixed
RTK
ScanPos023 CRS#1 N44° 38' 26.421683" E23° 19' 27.803508" 223.6640 0.015 0.019 12 1.000
fixed
RTK
ScanPos024 CRS#1 N44° 38' 26.689479" E23° 19' 28.370818" 224.5045 0.015 0.019 12 1.000
fixed
RTK
ScanPos025 CRS#1 N44° 38' 26.339274" E23° 19' 27.970026" 223.4869 0.018 0.024 12 1.000
fixed
RTK
ScanPos026 CRS#1 N44° 38' 26.079309" E23° 19' 28.256734" 223.2147 0.018 0.025 12 1.000
fixed
RTK
ScanPos027 CRS#1 N44° 38' 25.868198" E23° 19' 28.444276" 223.0067 0.017 0.023 12 1.000
fixed
RTK
ScanPos028 CRS#1 N44° 38' 25.684237" E23° 19' 28.644156" 222.7898 0.016 0.022 12 1.000
fixed

CRS#1 ... WGS84 / Geographic (EPSG::4979)

Page 5 / 13
2.3 Orientation Measurements

The VZ-400i acquired the following measurements for roll, pitch and yaw angles (all values in degrees).

Name Roll Pitch Yaw Acc. Roll Acc. Pitch Acc. Yaw PoseEstimation Type
ScanPos001 -5.594 0.395 112.838 0.018 0.018 1.645 dynamic
ScanPos002 -3.740 -0.369 -104.673 0.015 0.015 1.000 dynamic
ScanPos003 -3.935 -0.293 -101.587 0.015 0.015 1.000 dynamic
ScanPos004 -4.113 -0.372 -101.266 0.015 0.015 1.000 dynamic
ScanPos005 -4.159 -0.461 -102.788 0.016 0.016 1.000 dynamic
ScanPos006 -3.674 1.709 -102.457 0.015 0.015 1.000 dynamic
ScanPos007 -4.154 -0.133 149.566 0.016 0.016 1.944 dynamic
ScanPos008 -3.414 -0.014 125.973 0.014 0.014 1.604 dynamic
ScanPos009 -3.433 -1.926 73.062 0.015 0.015 1.000 dynamic
ScanPos010 1.633 -2.232 27.670 0.013 0.013 1.000 dynamic
ScanPos011 -4.423 -1.354 43.488 0.016 0.016 1.000 dynamic
ScanPos012 -4.293 0.800 130.650 0.016 0.016 1.637 dynamic
ScanPos013 -3.085 -3.113 45.144 0.016 0.016 1.000 dynamic
ScanPos014 -2.423 0.376 78.116 0.013 0.013 1.000 dynamic
ScanPos015 -3.792 0.534 -105.060 0.015 0.015 1.000 dynamic
ScanPos016 -4.473 -0.631 132.375 0.016 0.016 1.730 dynamic
ScanPos017 -5.225 -0.299 140.242 0.017 0.017 1.892 dynamic
ScanPos018 -3.606 -2.146 76.642 0.016 0.016 1.212 dynamic
ScanPos019 -0.345 -2.309 24.701 0.013 0.013 1.000 dynamic
ScanPos020 -5.398 -1.778 150.350 0.018 0.018 1.918 dynamic
ScanPos021 -5.549 0.136 164.567 0.018 0.018 1.876 dynamic
ScanPos022 -2.791 2.362 -94.901 0.015 0.015 1.000 dynamic
ScanPos023 -7.317 -0.104 157.757 0.020 0.020 2.052 dynamic
ScanPos024 -9.346 -2.794 80.326 0.024 0.024 1.419 dynamic
ScanPos025 -1.740 -3.231 17.325 0.015 0.015 1.000 dynamic
ScanPos026 -0.356 -1.536 22.280 0.011 0.011 1.000 dynamic
ScanPos027 -3.417 -2.604 10.578 0.016 0.016 1.000 dynamic
ScanPos028 -5.889 0.911 22.345 0.018 0.018 1.000 dynamic

2.4 Control Points defined in a coordinate reference system

No Control Points in a coordinate reference system used.

2.5 Check Points defined in a coordinate reference system

No Check Points in a coordinate reference system used.

2.6 Control Points defined in a locally levelled coordinate system

No Control Points in a locally leveled coordinate system used.

Page 6 / 13
3 Data used for Multi-station-Adjustment

3.1 Data per Scan Position

Number of
Plane Patches of Phase 3
Plane Patches
Name Phase 3 NS WE Horiz.
ScanPos001 2,085 610 615 860
ScanPos002 2,494 742 753 999
ScanPos003 2,876 889 826 1,161
ScanPos004 2,768 902 662 1,204
ScanPos005 2,824 923 656 1,245
ScanPos006 2,447 814 725 908
ScanPos007 2,312 787 617 908
ScanPos008 2,858 965 689 1,204
ScanPos009 2,649 874 728 1,047
ScanPos010 2,383 824 761 798
ScanPos011 1,826 677 568 581
ScanPos012 1,607 684 575 348
ScanPos013 1,267 393 623 251
ScanPos014 1,203 437 589 177
ScanPos015 2,389 854 757 778
ScanPos016 2,811 906 848 1,057
ScanPos017 2,971 903 897 1,171
ScanPos018 3,223 870 902 1,451
ScanPos019 2,889 904 785 1,200
ScanPos020 3,037 652 858 1,527
ScanPos021 2,554 561 1,000 993
ScanPos022 2,253 669 797 787
ScanPos023 2,894 1,038 837 1,019
ScanPos024 1,727 758 469 500
ScanPos025 2,946 1,153 811 982
ScanPos026 2,363 913 605 845
ScanPos027 2,106 885 665 556
ScanPos028 1,638 708 652 278

NS ... North-South, WE ... West-East, Horiz. ... Horizontal

3.2 Control Points used for Multi-Station Adjustment

No Control Points used.

3.3 Tie Points used for Multi-Station Adjustment

No Tie Points used.

Page 7 / 13
4 Results of MSA

4.1 General Information

User Settings:
use CRS control points: False
use SOCS tie points: False
use LLCS control points: False
GNSS measurement usage: yes
GNSS outliers: utilize all GNSS measurements
GNSS trust level: high
gap closure distance: 1.000 m
adjustment effort: standard
adjustment matches: planes to planes
reporting level: standard
Observations Used:
# project plane patches: 7,846
# scan position plane patches: 67,400
# GNSS measurements: 28
# orientation measurements: 28
# control points in CRS: 0
# control points in LLCS: 0
# tie points in PRCS: 0
# LLCS: 0
Adjustment Info:
start time: 2023-09-28T09:43:31
run time: 00:04:43
# parameters estimated: 23,709

4.2 Final Poses of Scan Positions

The following positions and orientations have been estimated for the scan positions:

In the PRCS coordinate system:

Name X [m] Y [m] Z [m] Acc. X [m] Acc. Y [m] Acc. Z [m]
ScanPos001 0.012 -0.049 221.457 0.030 0.027 0.010
ScanPos002 -6.623 2.565 221.460 0.030 0.027 0.010
ScanPos003 -13.613 10.371 221.518 0.030 0.027 0.010
ScanPos004 -24.183 21.100 221.664 0.030 0.027 0.010
ScanPos005 -32.117 29.502 221.783 0.030 0.027 0.010
ScanPos006 -45.059 37.722 221.897 0.030 0.027 0.010
ScanPos007 -42.012 43.347 221.911 0.030 0.027 0.010
ScanPos008 -27.183 31.745 221.905 0.030 0.027 0.010
ScanPos009 -17.403 39.598 222.041 0.030 0.027 0.010
ScanPos010 -12.080 36.569 222.022 0.030 0.027 0.010
ScanPos011 -6.454 32.035 221.582 0.030 0.027 0.010

Page 8 / 13
Name X [m] Y [m] Z [m] Acc. X [m] Acc. Y [m] Acc. Z [m]
ScanPos012 0.505 34.447 221.609 0.030 0.027 0.010
ScanPos013 7.559 37.217 221.803 0.030 0.027 0.010
ScanPos014 13.156 37.510 221.832 0.030 0.027 0.010
ScanPos015 -12.244 37.130 222.032 0.030 0.027 0.010
ScanPos016 -13.012 50.304 222.213 0.030 0.027 0.010
ScanPos017 -5.686 59.845 222.489 0.030 0.027 0.010
ScanPos018 -0.392 65.014 222.668 0.030 0.027 0.010
ScanPos019 8.165 59.624 222.455 0.030 0.027 0.010
ScanPos020 2.711 68.464 222.751 0.030 0.027 0.010
ScanPos021 10.161 80.875 223.178 0.030 0.027 0.010
ScanPos022 5.873 88.179 223.356 0.030 0.027 0.010
ScanPos023 20.552 91.224 223.730 0.030 0.027 0.010
ScanPos024 33.033 99.515 224.608 0.030 0.027 0.010
ScanPos025 24.311 88.631 223.687 0.030 0.027 0.010
ScanPos026 30.600 80.637 223.454 0.030 0.027 0.010
ScanPos027 34.736 74.052 223.247 0.030 0.027 0.010
ScanPos028 39.146 68.294 223.020 0.030 0.027 0.010

Name Roll [deg] Pitch [deg] Yaw [deg] Acc. Roll [deg] Acc. Pitch [deg] Acc. Yaw [deg]
ScanPos001 -5.608 0.381 134.779 0.007 0.007 0.018
ScanPos002 -3.764 -0.375 -135.185 0.006 0.007 0.018
ScanPos003 -3.949 -0.297 -131.896 0.006 0.006 0.018
ScanPos004 -4.117 -0.372 -131.597 0.006 0.006 0.018
ScanPos005 -4.157 -0.462 -134.439 0.006 0.006 0.018
ScanPos006 -3.668 1.719 -128.469 0.006 0.007 0.018
ScanPos007 -4.160 -0.112 150.169 0.007 0.006 0.018
ScanPos008 -3.425 -0.017 139.746 0.006 0.006 0.018
ScanPos009 -3.439 -1.922 100.420 0.006 0.007 0.018
ScanPos010 1.618 -2.275 46.553 0.007 0.007 0.018
ScanPos011 -4.438 -1.346 78.184 0.007 0.007 0.018
ScanPos012 -4.283 0.800 144.421 0.007 0.007 0.018
ScanPos013 -3.093 -3.102 79.641 0.007 0.008 0.018
ScanPos014 -2.418 0.378 104.865 0.008 0.008 0.018
ScanPos015 -3.799 0.523 -136.342 0.007 0.007 0.018
ScanPos016 -4.474 -0.619 144.166 0.006 0.007 0.018
ScanPos017 -5.220 -0.292 148.654 0.006 0.007 0.018
ScanPos018 -3.598 -2.129 109.447 0.006 0.006 0.018
ScanPos019 -0.356 -2.294 50.409 0.007 0.007 0.018
ScanPos020 -5.396 -1.774 152.613 0.006 0.006 0.018
ScanPos021 -5.528 0.134 161.283 0.006 0.007 0.018
ScanPos022 -2.798 2.335 -119.742 0.007 0.007 0.018
ScanPos023 -7.222 -0.102 155.841 0.007 0.007 0.018

Page 9 / 13
 Name Roll [deg] Pitch [deg] Yaw [deg] Acc. Roll [deg] Acc. Pitch [deg] Acc. Yaw [deg]
ScanPos024 -9.313 -2.779 127.480 0.008 0.008 0.018
ScanPos025 -1.757 -3.199 36.918 0.007 0.007 0.018
ScanPos026 -0.359 -1.500 44.348 0.007 0.007 0.018
ScanPos027 -3.432 -2.572 35.888 0.007 0.007 0.018
ScanPos028 -5.902 0.947 46.275 0.007 0.007 0.018

4.3 Changes in Scan Positions

The following table reflects the change of scan positions with respect to position and orientation in comparison to
positions and orientations wrt to prior to multi-station adjustment.

In the PRCS coordinate system:

Changes wrt to prior to multi-station adjustment
Name X [m] Y [m] Z [m] Roll [deg] Pitch [deg] Yaw [deg]
ScanPos001 -0.0007 0.0001 0.0012 0.0005 -0.0049 0.0018
ScanPos002 0.0002 0.0004 0.0014 -0.0027 -0.0012 0.0004
ScanPos003 0.0000 0.0005 0.0022 -0.0010 0.0003 0.0008
ScanPos004 -0.0003 0.0004 0.0024 0.0003 -0.0000 0.0008
ScanPos005 -0.0001 0.0004 0.0025 0.0004 0.0019 -0.0002
ScanPos006 -0.0001 0.0002 0.0013 0.0051 0.0072 -0.0001
ScanPos007 0.0004 -0.0002 0.0009 -0.0020 0.0079 -0.0020
ScanPos008 -0.0003 0.0005 0.0024 -0.0020 0.0017 0.0001
ScanPos009 0.0001 0.0005 0.0035 -0.0045 0.0046 -0.0019
ScanPos010 -0.0002 0.0006 -0.0006 0.0094 -0.0093 -0.0020
ScanPos011 -0.0002 0.0004 0.0000 0.0031 -0.0042 -0.0005
ScanPos012 -0.0003 0.0001 -0.0008 0.0045 -0.0054 -0.0003
ScanPos013 -0.0011 0.0001 0.0019 0.0008 -0.0019 -0.0014
ScanPos014 -0.0006 0.0000 -0.0021 0.0014 -0.0125 0.0000
ScanPos015 0.0001 0.0002 0.0025 -0.0021 0.0006 -0.0006
ScanPos016 -0.0002 -0.0001 0.0030 -0.0007 0.0029 -0.0009
ScanPos017 -0.0001 -0.0003 0.0031 0.0014 0.0046 0.0004
ScanPos018 -0.0002 -0.0002 0.0028 0.0010 0.0007 0.0024
ScanPos019 -0.0001 0.0000 0.0032 -0.0021 -0.0039 0.0003
ScanPos020 -0.0004 -0.0003 0.0026 0.0009 0.0011 0.0021
ScanPos021 -0.0008 0.0009 0.0025 -0.0002 -0.0052 0.0049
ScanPos022 -0.0020 0.0002 0.0029 -0.0078 0.0048 0.0084
ScanPos023 -0.0003 0.0020 0.0018 -0.0024 -0.0022 0.0006
ScanPos024 -0.0031 0.0035 0.0022 0.0044 -0.0138 0.0077
ScanPos025 -0.0028 0.0032 0.0012 0.0101 0.0044 0.0080
ScanPos026 -0.0007 0.0037 -0.0007 0.0122 0.0010 0.0060
ScanPos027 -0.0007 0.0042 -0.0029 0.0118 0.0105 0.0053
ScanPos028 -0.0001 0.0051 -0.0042 0.0153 0.0066 0.0074

Page 10 / 13
4.4 Residuals

For an assessment of the quality of the multi-station adjustment the following residual deviations (in short residuals) can
be observed.

4.4.1 GNSS Measurements

Deviations in PRCS a priori Accuracies

Name Res. X [m] Res. Y [m] Res. Z [m] Horiz. [m] Vert. [m]
ScanPos001 0.0120 -0.0494 -0.0467 0.014 0.010
ScanPos002 -0.0167 -0.0616 -0.0418 0.014 0.010
ScanPos003 -0.0146 -0.0716 -0.0520 0.014 0.010
ScanPos004 0.0049 -0.0176 0.0088 0.014 0.013
ScanPos005 0.0140 -0.0618 -0.0202 0.014 0.010
ScanPos006 0.0269 0.0136 -0.0069 0.014 0.010
ScanPos007 -0.0220 0.0182 0.0056 0.014 0.010
ScanPos008 -0.0339 0.0124 0.0352 0.014 0.010
ScanPos009 -0.0064 0.0276 0.0700 0.014 0.010
ScanPos010 -0.0114 0.0022 -0.0011 0.014 0.010
ScanPos011 0.0557 0.0793 0.0359 0.014 0.010
ScanPos012 0.0241 0.0683 -0.0130 0.014 0.011
ScanPos013 0.0180 0.0212 -0.0853 0.014 0.012
ScanPos014 0.0366 0.0803 -0.0841 0.014 0.010
ScanPos015 0.0037 0.0311 -0.1216 0.014 0.011
ScanPos016 -0.0661 -0.0409 0.2191 0.016 0.018
ScanPos017 -0.0307 -0.1084 0.1919 0.016 0.020
ScanPos018 -0.0831 -0.1113 0.1544 0.015 0.015
ScanPos019 -0.0234 -0.1207 0.0569 0.026 0.048
ScanPos020 -0.0066 0.0320 -0.0521 0.015 0.019
ScanPos021 -0.0326 0.0708 -0.0572 0.014 0.016
ScanPos022 0.0307 0.0245 -0.0209 0.016 0.019
ScanPos023 -0.0137 0.0105 0.0669 0.015 0.019
ScanPos024 -0.0359 0.0340 0.1042 0.015 0.019
ScanPos025 0.0745 -0.0392 0.2009 0.018 0.024
ScanPos026 0.0455 -0.0079 0.2403 0.018 0.025
ScanPos027 0.0478 -0.0760 0.2405 0.017 0.023
ScanPos028 0.0523 -0.1556 0.2305 0.016 0.022

* ... Observation classified as outlier that has not been used for adjustment

Statistics mean median std. dev. std(mad) min max count

Res. X [m] 0.0018 -0.0014 0.0366 0.0398 -0.0831 0.0745 28
Res. Y [m] -0.0141 0.0063 0.0627 0.0687 -0.1556 0.0803 28
Res. Z [m] 0.0449 0.0072 0.1086 0.0882 -0.1216 0.2405 28

Page 11 / 13
Statistics mean median std. dev. std(mad) min max count
Res. X [1] 0.0976 -0.0887 2.3443 2.6800 -5.5801 4.2116 28
Res. Y [1] -0.7137 0.4171 3.9930 4.1525 -9.5435 5.6954 28
Res. Z [1] 1.5648 0.6208 6.2965 7.0496 -11.0546 12.4482 28
Res. X with outlier [m] 0.0018 -0.0014 0.0366 0.0398 -0.0831 0.0745 28
Res. Y with outlier [m] -0.0141 0.0063 0.0627 0.0687 -0.1556 0.0803 28
Res. Z with outlier [m] 0.0449 0.0072 0.1086 0.0882 -0.1216 0.2405 28
Res. X with outlier [1] 0.0976 -0.0887 2.3443 2.6800 -5.5801 4.2116 28
Res. Y with outlier [1] -0.7137 0.4171 3.9930 4.1525 -9.5435 5.6954 28
Res. Z with outlier [1] 1.5648 0.6208 6.2965 7.0496 -11.0546 12.4482 28

4.4.2 Orientation Measurements

Deviations in PRCS a priori Accuracies

Name Roll [deg] Pitch [deg] Yaw [deg] Roll [deg] Pitch [deg] Yaw [deg]
ScanPos001 -0.0139 -0.0145 21.9418 0.018 0.018 10.000
ScanPos002 -0.0241 -0.0068 -30.5123 0.015 0.015 10.000
ScanPos003 -0.0143 -0.0046 -30.3090 0.015 0.015 10.000
ScanPos004 -0.0042 -0.0001 -30.3302 0.015 0.015 10.000
ScanPos005 0.0014 -0.0012 -31.6516 0.016 0.016 10.000
ScanPos006 0.0057 0.0106 -26.0120 0.015 0.015 10.000
ScanPos007 -0.0060 0.0210 0.6029 0.016 0.016 10.000
ScanPos008 -0.0110 -0.0031 13.7731 0.014 0.014 10.000
ScanPos009 -0.0054 0.0043 27.3584 0.015 0.015 10.000
ScanPos010 -0.0152 -0.0432 18.8823 0.013 0.013 10.000
ScanPos011 -0.0147 0.0079 34.6964 0.016 0.016 10.000
ScanPos012 0.0095 0.0000 13.7711 0.016 0.016 10.000
ScanPos013 -0.0079 0.0108 34.4974 0.016 0.016 10.000
ScanPos014 0.0050 0.0017 26.7491 0.013 0.013 10.000
ScanPos015 -0.0065 -0.0111 -31.2822 0.015 0.015 10.000
ScanPos016 -0.0006 0.0116 11.7911 0.016 0.016 10.000
ScanPos017 0.0042 0.0071 8.4123 0.017 0.017 10.000
ScanPos018 0.0079 0.0164 32.8056 0.016 0.016 10.000
ScanPos019 -0.0105 0.0152 25.7087 0.013 0.013 10.000
ScanPos020 0.0015 0.0032 2.2630 0.018 0.018 10.000
ScanPos021 0.0205 -0.0014 -3.2836 0.018 0.018 10.000
ScanPos022 -0.0072 -0.0276 -24.8417 0.015 0.015 10.000
ScanPos023 0.0952 0.0025 -1.9160 0.020 0.020 10.000
ScanPos024 0.0332 0.0147 47.1535 0.024 0.024 10.000
ScanPos025 -0.0174 0.0320 19.5935 0.015 0.015 10.000
ScanPos026 -0.0029 0.0362 22.0676 0.011 0.011 10.000
ScanPos027 -0.0147 0.0322 25.3095 0.016 0.016 10.000
ScanPos028 -0.0129 0.0364 23.9295 0.018 0.018 10.000

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 Statistics mean median std. dev. std(mad) min max count
Roll [deg] -0.0002 -0.0057 0.0219 0.0124 -0.0241 0.0952 28
Pitch [deg] 0.0054 0.0038 0.0175 0.0120 -0.0432 0.0364 28
Yaw [deg] 7.1846 13.7721 23.8657 19.8339 -31.6516 47.1535 28
Roll [1] -0.1092 -0.3724 1.1470 0.7391 -1.6171 4.6526 28
Pitch [1] 0.3388 0.2322 1.2241 0.7029 -3.2369 3.1598 28
Yaw [1] 0.7185 1.3772 2.3866 1.9834 -3.1652 4.7153 28

4.4.3 Plane Patches

The subsequent figures show the residuals in distance and angle of all plane patches per scan position, expressed as mean,
median, standard deviation and median absolute deviation (std(mad)). Additionally, the figures depict the number of plane
patches available for every scan position.

For the residuals in distance of the plane patches the boxplot shows the median as orange line. The box is defined by the
qantil 25% and 75%. This translates to 50 percent of the total amount of points lie in the range shown by the box. The
whiskers are at the quantil 2.5% and 97.5%, containing 95% of all points.

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