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543. MEASUREMENT OF ANGULAR DISPLACEMENT BY MEANS OF LASER SCANNER. D. BRUČAS, V. GINIOTIS

543. Measurement of Angular Displacement by Means

of Laser Scanner

D. Bručas 1, V. Giniotis 2
Vilnius Gediminas Technical University,
Saul÷tekio al. 11, LT-10223 Vilnius, Lithuania,
1 2
E-mail: domka@ktv.lt; vg@ai.vgtu.lt
(Received 03 December 2009; accepted 07 June 2010)

Abstract. The paper deals with the investigation of laser scanning instrument‘s possibility to be
used for determination of the angular position or displacement of the object. Laser scanners are
used widely in geodesy, structural and machine engineering areas. Such application gives new
opportunities for measurement of an angle position of object in such places and positions,
where usually used angle measuring instruments are not available or not possible to use. In this
paper the determination of angular position of rotary device by means of plate freely placed on
the rotating part and the laser scanning instrument is presented together with some experimental
results of such layout application.
Keywords: angle, displacement, determination, laser scanner.

1. Introduction

Metrological calibration or testing of angle measuring instruments is quite important task

ever since angle measurements were started to implement. These tasks are still of an extreme
importance today since lots of angle measurement devices are implemented in many branches
of industry, such as machine engineering, construction works, geodesy etc. Generally, there are
several groups of plane angle measurement methods which could be implemented for the task in
concern [1]:
• Solid angular gauge method:
o polygons (multiangular prisms);
o angle gauges, etc.
• Trigonometric method (angle determination by means of linear measurements);
• Goniometric method (plane angle determination by means of a circular scale):
full circle (limb, circular scales, etc.);
non-full circle (sector scales).
Usually, the calibration of angle measuring instrument is performed by means of the
comparison of the instrument under testing against the reference one. Several technical
decisions for the angle determination can be implemented in order to create a reference
measure. The most significant means used for this purpose are [1]:
• Polygon/autocollimator;
• Moore’s Precision Index table;
• Circular scale/microscope(s);
• Angular encoders.
• Ring laser (laser gyro);
• Interferometric angle generator.

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 543. MEASUREMENT OF ANGULAR DISPLACEMENT BY MEANS OF LASER SCANNER. D. BRUČAS, V. GINIOTIS

In case of the implementation of the mentioned devices for the angle comparison there is a
need to use an expensive and complicated device for the creating of reference measure, also the
precise alignment (centring and levelling) of the reference measure is needed [1]. Additionally,
in some cases (as in case of use of polygon/autocollimator) only a limited number of angular
positions could be tested or as it is typical using Moore’s Precision Index or the circular scale,
the entire process of calibration can hardly be automated. Some of methods, as the calibration
devices using interferometer angle generator can not be implemented at industrial conditions.
In case of the calibration or testing of the low accuracy angle measuring instruments (turn
tables in mechanical industry, construction site geodetic instruments etc.) some robust,
uncomplicated (in terms of adjusting) and less sensible for the environmental conditions system
is needed [2].
Here in this paper we describe a simple limited accuracy angle measuring instruments
calibration method based on the laser scanning capabilities of geodetic instruments.

2. Principle of the Proposed Angle Testing/Calibration Method

The proposed principle of calibration of angle measuring instruments relies on the 3D point
coordinates determination by the geodetic laser scanning equipment. A general principle of
action of simplest instrument which can be implemented for the task (tacheometer with laser
scanning possibilities) is shown in Fig 1.

αv 2

αh

Fig. 1. Point position (coordinates) determination principle by measuring geodetic instrument:

1 – geodetic instrument (tacheometer), 2 – point which coordinates had to be determined

2
1

Fig. 2. Mesuring of point cloud of plate surface: 1 – geodetic angle instrument (tacheometer),
2 – measuring plate, 3 – determined points

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 543. MEASUREMENT OF ANGULAR DISPLACEMENT BY MEANS OF LASER SCANNER. D. BRUČAS, V. GINIOTIS

Geodetic instrument (tacheometer) measuring horizontal αh, and vertical αv angles of

direction and comprising distance (l) from the instrument (1) to the measured point (2) by the
built in laser distance-meter is shown in Fig. 1 [3]. It acquires the 3D coordinates of measured
point position. Scanning tacheometer while determining points coordinates using same
principle, has an option of automated measurement of certain area with the certain pitch,
therefore a point cloud of desired object surface can be obtained.
Principle of performance of terrestrial laser scanner is very similar; only the mentioned laser
scanner can acquire point cloud at significant higher speed with higher density, though with
lower accuracy of the point determination.
Having the possibility of scanning the required surface it is possible to obtain the point
cloud from its surface (Fig 2).
Therefore as can be seen form Fig 2, by means of scanning geodetic instrument (1) the
surface points (3) of the plate (2) at certain pitch can be determined. Having the point cloud of
plate surface, the data can be transferred to some kind of CAD software where the best fit
(average) plane can be attached to the point cloud. That way the plate surface position can be
reverse-engineered inside the CAD software.
In case the measured plate was rotated to a certain angle after the measurement was
completed, using the principle described above the surface plane of the plate can be determined
again (at the new position). Having the plate’s surface at several angular positions the spatial
angle between the planes can be determined; therefore the rotation angle of the plate also can be
obtained (Fig. 3).

1
1

α1

α2
2
α1
α2

a) b)
Fig. 3. Drawing of the angle measurement layout:
a) 3D view, b) angle measurement, 1 – planes, 2 – axis of rotation

As can be seen from Fig 3, a, there will always be a single rotation axis of the determined
planes, being the same as the rotation axis of calibrated rotary device. Since there will always
be the same rotation axis, the spatial angle between the planes will be the angle of rotation of
the calibrated device (Fig 3, b). Rotation angle (α) of the tested instrument is calibrated by
comparing it with the reference one created in the computer program used for this application.
So, the measurements can be considered as reference-free (with the virtual reference created
inside PC).

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 543. MEASUREMENT OF ANGULAR DISPLACEMENT BY MEANS OF LASER SCANNER. D. BRUČAS, V. GINIOTIS

Therefore, there is no difference how the plate (the point cloud of which should be obtained)
is positioned; the only limitation is stability of the plate on the tested instrument and its
visibility for scanning instrument. Consequently, there is no need in precise positioning neither
calibration plate nor the scanning instrument (since the spatial angle is calculated between two
obtained planes), which makes the preparation for the calibration considerably easier and
simpler.
The large number of point cloud of the plate will decrease the general error of the drawn 3D
plate. The larger number of points will be obtained, the higher accuracy of measurements will
be reached by creating an average best fit plane in CAD software.
An example of application of such testing/calibration arrangement is shown in Fig. 4.

1 3

Fig. 4. Example of testing/calibration of rotary table of industrial milling machine: 1 – scanning

instrument, 2 – milling machine, 3 – turn table (4th and 5th coordinate)

In case shown in Fig. 4 angular positioning control of the turn table (4th and 5th coordinates)
of five-coordinate milling centre is presented. The calibration plate (3) (simple plane plate) is
firmly (for example by magnetic holder) placed on the turn table of the milling machine (2) at
any position. The geodetic scanning instrument (1) is positioned next to the turn table (so that
the plate is visible by the scanning instrument). The point cloud of the plate surface is obtained
at the initial angular position of rotary table (and the calibration plate) to be tested. After the
rotary table was rotated to a certain (calibration) angular position the point cloud of the plate
can be obtained at that position. At the end of measurement process there should be a number of
point clouds of the plate at different angular positions of the calibrated instrument (and the
plane) obtained. Having the point clouds the plane best fit surfaces can be drawn through those
point clouds in CAD program, after that the angle between the plates can be determined, this
angle being considered as the reference one. That way both the 4th and the 5th coordinate of
rotation of the table can be tested using the mentioned instruments in industrial conditions
(workshop).
Similar angular position calibrations can be performed on many kinds of machines as, for
example, spindles of turning machines (in case the turning was interpolated), turning tables of
different CNC machines, etc. Measurements can be performed with extremely short time
needed for fixing the arrangement. The measurements can be performed at practically any
environment (only avoiding direct sunlight, heat radiation and other sources of optical
distortions of the surrounding air), with further processing of the images performed by
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 543. MEASUREMENT OF ANGULAR DISPLACEMENT BY MEANS OF LASER SCANNER. D. BRUČAS, V. GINIOTIS

computer software at any suitable facility or even at the calibration facility. The entire computer
results processing can also be quite easily automated.
Obviously the calibration with single calibration plate can not be performed at the entire
range of angular measurements (360°) of calibrated instrument since the plate will not be visible
by the scanning instrument. To perform the full circle calibration the plate or the scanning
instrument should be repositioned or there should be some special shape of the calibration plate
(there can be used a three or four angle polygon object instead of the plate) or several plates at
special intervals used. The plate can also be positioned on any part of the calibrated instrument
where the suitable attachment points are available. Obviously there is also no limitations in size
of the plate and its distance to the axis of rotation (the larger the plate or its distance to the axis
of rotation the larger linear movement, detected by the scanning instrument, of the plate and its
points will be obtained) therefore the higher accuracy can be achieved with the only limitation
in visibility of the plates by scanning instrument.
Calibration measurement can also be performed at quite long (up to 10 m) distance from the
scanning instrument to the object to be tested, though the distance influences the accuracy of
measurement so it should normally be reduced at short range as possible [4].

Accuracy of Testing

Practically the special measurement arrangement was composed for experimental testing
according to the suggested calibration method (Fig. 5).
The calibration plate (3, Fig. 5) was placed on a precise turn table (2) produced by Wild
Heerbrugg company (its angular accuracy is equal to 0.3˝) [5]. A scanning Trimble 5503
tacheometer (having the stated standard deviation of linear measurements of ±3 mm) was
placed next to the plate at a distance of approximately 2 m.

Fig. 5. Measurement equipment arrangement for testing of suggested calibration method: 1 – scanning
instrument (tacheometer), 2 – turn table, 3 – calibration plate

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Fig. 6. Point clouds of angular positions (first set the accuracy of measurements) with the best fit planes
fixed

During the tests 144 plate surface points were measured at each angular position of the
rotary table. Large number of points measured was used to decrease the random errors of the
coordinates determination of a single point, by obtaining the number of points and calculating
the average best fit plane. Entire measurement process for at a single angular position of rotary
disc (obtaining of 144 points) took about 20 min, such long time of measurement was due to the
nature of the scanning instrument implemented – tacheometer is not normally intended for
surface laser scanning applications (laser scanning being only a secondary feature).
Turn table (with the calibration plate attached) was turned with a step of 10° starting and
ending at the positions where the plate surface was no longer visible by the tacheometer. After
that the measurements were repeated with rotary table moving backwards at the pitch of 15°.
After obtaining the point clouds (for each step) the best fit plane for each measurement step
was created using Imageware software. Angles between the plates were later calculated by the
Unigraphics CAD software (Fig. 6).The results of tests of angular position generated by the turn
table, precisely determined by its encoder and considered as reference compared to the results
obtained from the planes drawn through the measured surfaces (deviations of angular position
determine) are shown in Fig. 7.
As can be seen according to the results of experiment the maximal deviation of angular
position determination by means of the suggested method does not exceed ±7.88´ (test 2,
angular position 0°). Standard deviation evaluate of the tests performed is 4.0´ (with the
standard deviation of the rotary table positioning neglected due to its small value).
As can be seen, the accuracy of experimental angle determination is not too high,
nonetheless it could be quite sufficient for the less accurate angle positioning instruments (such
as industrial turn tables etc.). Therefore the method without further improvements could be
implemented in practice (though for the calibration of less accurate instruments).

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 543. MEASUREMENT OF ANGULAR DISPLACEMENT BY MEANS OF LASER SCANNER. D. BRUČAS, V. GINIOTIS

Error of angle determination arc min

6

0
0 20 40 60 80 100 120 140
-2
Anguar position deg
-4

Test 1
-6
Test 2
-8

Fig. 7. Deviations of angular position determination

Possible Sources of Errors and Means for Higher Accuracy Achievement

Since the described experiment was only the initial trial to adopt the described method of
calibration of angle measuring devices, there are plenty possible sources of errors with
possibilities of the accuracy increase. Among the many possible the main sources of errors in
case of that particular experiment could be named [4]:
• Errors of tacheometer angle measurements – horizontal and vertical angles (or limited
resolution of measurements);
• Errors of distance measurements by distance-meter of the instrument (or limited
resolution of measurements);
• Errors of distance-meter calibration (systematic errors of measurement);
• Optical distortions of the air;
• Errors caused by the limited reflection of calibration plate.It can be stated, that the
greatest part of errors causing the low accuracy of measurement during performed practical
tests could be caused by the limited accuracy of scanning tacheometer that was available for an
experiment. Therefore, implementing the instrument of higher accuracy (having the stated
accuracy of 1 mm or even higher) could increase the accuracy of angle determination.
Another important source of possible errors is the systematic errors of scanning instrument
laser distance-meter. Such systematic errors normally are eliminated by calibration of the
distance-meters and introducing the cyclic correction of the measurements (depending on the
distance to the measured object). Unfortunately such short distance calibration can not be
performed at available facilities and generally is not considered to be necessary since normally
tacheometer measures points at much larger distances (therefore the distance-meters are
calibrated to achieve higher accuracy at larger distances).
Optical distortion of the surrounding air is obviously present in case of any optical
measurements, thus any fluctuations of surrounding air, direct sunlight, any heat sources can
influence accuracy of measurements and should be avoided.
Reflective properties of the calibration plate can also influence laser based measurements;
both colour and surface facture of plate is important (for example mat black colour gives large
errors of measurement or the measurement are not possible at all). Therefore the surface and
colour of calibration plate surface should be correctly chosen considering the properties of laser
used.
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 543. MEASUREMENT OF ANGULAR DISPLACEMENT BY MEANS OF LASER SCANNER. D. BRUČAS, V. GINIOTIS

Conclusions

A new method of angle measurements allowing rapid arrangement of testing

equipment and fast calibration process at the instruments work environment was suggested and
described in the paper.
The experiment of implementation of the mentioned calibration method shows
accuracy of the measurements not exceeding ±7.88´ (standard deviation 4.0´), which allows
implementation of the method “as is” for the calibration of less accurate angle measuring
instruments or equipment.
Some improvements could be made to the mentioned method allowing increasing the
accuracy of measurements considerably.
Further tests should be performed both in the field of accuracy increasing of
measurements and practical implementation of the method, especially in the work environment
of the plant of manufacture.

Acknowledgments

This work has been funded by the Lithuanian State Science and Studies Foundation, Project
No B-32/2008.

References

[1] Giniotis V. Measurements of position and displacement. -Vilnius: Technika, 2005, - 215 p.
[2] Ingensand H. A new method of theodolite calibration. XIX International Congress, Helsinki, Finland,
1990, pp. 91–100.
[3] Zogg H.-M.; Ingensand H. Terrestrial 3D-Laser Scanner ZLS07 Developed at ETH Zurich: an
Overview of its Configuration, Performance and Application, Optical 3-D Measurement Techniques
(Volume 1), 380-388.
[4] Sonka M., Hlavac V., Boyle R. Image Processing, Analysis, and Machine Vision. -Iowa: PWS, 1998,
- 260p.
[5] Katowski O., Salzmann W. The angle-measurement system in the Wild Theomat T2000. Wild
Heerbrugg Ltd. Precision Engineering, Optics, Electronics, Heerbrugg, Switzerland, 1983, pp. 1–10.

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