Design and optimisation of laser scanning for tunnels geometry inspection

• This work contributes to cost effective tunnel geometry inspections using TLS.
• We optimise the scanning parameters, control network design and georeferencing.
• The size of the scanner shift is adopted based on the incidence angle criteria.
• The survey control uses the positional uncertainty and reliability concept.
• We propose arbitrary georeferencing in long tunnel scanning applications.

The use of terrestrial laser scanning technology in engineering surveys is gaining an increasing interest due to the very high spatial density of the acquired data. Recent improvements regarding the speed, accuracy, software algorithms and the fall in price have introduced a high potential for large scale applications of this technology in highly demanding engineering environments such as tunnels. Railway tunnels, in particular those of a long length, create challenges for surveyors due to their elongation to obtain satisfactory geometry of the scanned data. The purpose of this paper is to give an optimal solution for surveying tunnel geometry using laser scanning technology to reliably inspect railway tunnels and create “as-built” documentation.The proposed methodology provides optimisation of scanning parameters, scans registration, the georeferencing approach and the survey control network design. The maximal size of the scanner shifting along the tunnel alignment is primarily conditioned by factors including the incidence angle of the laser beam and the point density distribution. The authors introduce the so-called arbitrary georeferencing approach in long tunnel scanning that controls the point cloud geometric distortions to the required limits and contributes to time and material resources savings. Optimal design of the survey control network ensures the required positional accuracy and the reliability of the measurements, together with a cost effective approach to tunnels surveying.The proposed methodology is followed by the empirical results of the modelling and profiling of 12 tunnels in a single track railway. The lengths of these tunnels are from 60 m to 1260 m, with a total length of 3.5 km. Due to the specific geometry of the case study tunnels, the maximal favourable laser incidence angle is 78° with a distance of 13 m and consequently the optimal size of the scanner shifting along the tunnel alignment is 26 m. The survey control network is designed with the condition that the optimal reliability factors are within the required limits for engineering networks. A priori estimation of the control network positional uncertainty and a posteriori adjustment results shows that the achieved positional accuracy of the control points is approximately five times better than the requested absolute accuracy of the tunnel model: σm = 2 cm. On the largest tunnel example it is shown that the arbitrary georeferencing approach assures that the optimal registration error size is within the requested limits.