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Due to recent improvements in sensor technology, UAV-based laser scanning is nowadays used in more and more applications like topographic surveying or forestry. The quality of the scanning result, a georeferenced 3D point cloud, mainly depends on errors coming from the trajectory estimation, the system calibration and the laser scanner itself. Due to the combined propagation of errors into the point cloud, the individual contribution is difficult to assess. Therefore, we propose an entire investigation of the scan characteristics of a 2D laser scanner without the use of the other sensors included in the system. The derived parameters include the range precision, the rangefinder offset as part of the range accuracy, the angular resolution capability and the multi-target capability of the RIEGL miniVUX-2UAV. The range precision is derived from amplitude values by a stochastic model, with observations fitting a theoretical model very well. The resolution capability in the angular direction is about twice the laser beam footprint size and therefore increases linearly for larger distances. Further, a new approach with the corresponding methodology for the investigation of multi-target capability is presented. The minimum distance between two targets to appear as separated echoes within a single laser beam is about 1.6 m and inliers within the measurement precision occur from 1.9 m separation distance. The scan attributes amplitude and deviation, which are computed during the online waveform processing, show a clear systematic relation to the range precision, also in cases of multiple echoes.

Investigations of the scan characteristics with special focus on multi-target capability for the 2D laser scanner RIEGL miniVUX-2UAV