Laser Range Finder Calibration Error Model

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Description

The Laser Range Finder Calibration Error Model simulates factory or field mis-calibration by applying an affine transformation to the measured range. The model also allows operators to apply mid-simulation corrections to compensate for known calibration errors, enabling realistic calibration and recalibration scenarios.

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Module Implementation

Calibration Error

The model applies calibration errors to the true range using scale and bias parameters. The raw measured range is computed as:

$$R_{\text{raw}}=R_{\text{true}}\cdot S_{\text{cal}}+B_{\text{cal}}$$

where:

• $R_{\text{true}}$ is the geometric range to the target [m]
• $S_{\text{cal}}$ is the calibration scale factor (1.0 = no error)
• $B_{\text{cal}}$ is the calibration bias [m]

A scale factor of 1.000001 represents approximately 1 ppm scale error.

User Correction

Operators can apply corrections to compensate for known calibration errors. The final measured range reported by the sensor is:

$$R_{\text{measured}}=\frac{R_{\text{raw}}-B_{\text{corr}}}{S_{\text{corr}}}$$

where $B_{\text{corr}}$ and $S_{\text{corr}}$ are the user-applied correction bias and scale. Corrections take effect immediately on the next capture without requiring a simulation tick.

When calibration errors are perfectly known, setting $B_{\text{corr}}=B_{\text{cal}}$ and $S_{\text{corr}}=S_{\text{cal}}$ recovers the true range.

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Assumptions/Limitations

• The calibration error is deterministic; random calibration drift is not modelled.
• Scale and bias errors are applied independently; cross-axis coupling is not considered.
• The model assumes the calibration error is constant throughout the simulation unless explicitly changed.