NISTIR 6922

Calibration Experiments of a Laser Scanner

Building and Fire Research Laboratory 

Gaithersburg, MD 20899 

United States Department of Commerce 

Technology Administration 

National Institute of Standards and Technology 
NISTIR 6922

Calibration Experiments of a Laser Scanner 

Geraldine S. Cheok 

Stefan Leigh 

Andrew Rukhin 

September 2002 

Building and Fire Research Laboratory 

National Institute of Standards and Technology 

Gaithersburg, MD 20899 

U. S. Department of Commerce

Donald L. Evans, Secretary 

Technology Administration 

Phillip J. Bond, Under Secretary

Technology Administration 

National Institute of Standards and Technology 

Arden L. Bement, Director
 iii

ABSTRACT 

The potential applications of laser scanners or LADARs (Laser Detection and Ranging) are 

numerous, and they cross several sectors of the industry – construction, large-scale 

manufacturing, remote sensing, national defense. A LADAR is an instrument which can rapidly 

capture 3-D data of a scene in the form of x, y, z points. The confidence in end products of the 

applications – 3D models, positioning, derived quantities – depends largely on the accuracy and 

precision of the laser scanner. For global uncertainty analysis via error propagation, specific 

instrumental uncertainties need to be determined. 

This report chronicles exploratory experiments conducted at the National Institute of Standards 

and Technology to characterize a LADAR, focusing on accuracy and precision. The specific 

variables considered were distance, angle of incidence, and target color. Other characteristics of 

the LADAR such as the returned intensity and beam divergence were also examined. 

Initial findings indicate no obvious global color effect on accuracy although range-specific biases 

were observed. Decreased measurement accuracy is observed for higher angles of incidence. 

Reflectivity contributes to measurement error with highly reflective targets exhibiting large 

errors in the shorter ranges and low reflective targets being less precise in the longer ranges. 

These initial efforts are expected to contribute to the understanding of what is required to 

calibrate similar sensors in terms of significant parameters, test procedures, and calibration 

facility requirements. 
v

TABLE OF CONTENTS

ABSTRACT.......................................................................................................................iii

CONTENTS.........................................................................................................................v

1.0 INTRODUCTION ...............................................................................................................1

2.0 EXPERIMENTAL PARAMETERS AND PROCEDURES.............................................. 5

2.1 Data Set 1 – Effect of Color on Range Accuracy ................................................... 6

2.2 Data Set 2 – Effect of Distance (0 m to 60 m) on Range Accuracy ....................... 7

2.3 Data Set 3 – Extension of Data Set 2 (60 m to 108 m) ........................................... 8

2.4 Data Set 4 – Effect of Distance (5 m to 160 m) on Range Accuracy ..................... 8

2.5 Data Set 5 – Effect of Distance (10 m to 150 m) on Range Accuracy and

Effect of Distance on Intensity Value ..................................................................... 9

2.6 Data Set 6 – Effect of Angle Incidence on Accuracy........................................... 12

2.7 Data Set 7 – Spatial Correlation............................................................................ 15

2.8 Data Set 8 – Autocorrelation................................................................................. 16

3.0 ANALYSIS AND DISCUSSION OF RESULTS ............................................................ 17

3.1 Color ..................................................................................................................... 17

3.1.1 Data Set 1 .................................................................................................. 17

3.1.2 Data Set 4 .................................................................................................. 22

3.1.3 Data Set 5 .................................................................................................. 27

3.1.4 Combined Data Sets.................................................................................. 31

3.2 Intensity................................................................................................................. 32

3.3 Angle of Incidence ................................................................................................ 35

3.3.1 Data Set 6 .................................................................................................. 35

3.3.2 Data Sets 5 and 6....................................................................................... 46

3.4 Beam Divergence.................................................................................................. 47

3.5 Correlation ............................................................................................................ 54

3.5.1 Temporal Autocorrelation – Data Set 8 .................................................... 55

3.5.2 Spatial Autocorrelation – Data Set 7......................................................... 57

4.0 CONCLUSIONS AND RESEARCH NEEDS ................................................................. 60

4.1 Summary and Conclusions.................................................................................... 60

4.2 Research Needs..................................................................................................... 61

REFERENCES ................................................................................................................. 63

APPENDIX A....................................................................................................................65

APPENDIX B ....................................................................................................................82
1

1.0 INTRODUCTION

LADAR (laser detection and ranging) technology has been available since the 1970s. Its full 

potential, however, was not fully realized until recently (1990s) because of inhibitive cost and 

poor reliability of the early devices. However, advances in micro-chip lasers, optics, MEMS 

(microelectromechanical systems) technology, and computers have led to increases in speed of 

data acquisition, range accuracy and reliability as well as reduction in size and costs. As the use 

of LADARs increases, the need is growing to characterize their performance and to develop 

confidence limits for the LADAR data and their end products. There has been little effort in this 

area thus far.

A LADAR is an instrument which can rapidly capture 3-D data of a scene in the form of x, y, z

points (point clouds, Fig. 1.1) as contrasted to photography, which gives a 2-D projection. In 

general, LADARs return two pieces of information, range (=distance) and intensity (function of 

the strength of the return signal). Additionally, some LADARS can obtain other spectral data 

such as R(ed), G(reen), B(lue) values which can be used to aid in object identification.

This report chronicles exploratory calibration experiments conducted at the National Institute of 

Standards and Technology (NIST). These experiments, conducted over a period of three years, 

served three purposes: 1) to characterize the performance of a laser scanner with the focus on 

accuracy and precision calibrations of the LADAR, 2) as a learning process for the use of and 

familiarization with the LADAR and 3) to address needs as they arose such as the examination of 

intensity for bar code recognition. The experimental variables included distance, target color 

(reflectivity) and angle of incidence. Additionally, the effect target material and distance on 

intensity, and the laser beam divergence were examined.
2

Figure 1.1. Point Clouds of a Wooded Area (top) and a Vehicle (bottom).

The potential applications of LADARs are tremendous, and they cross several sectors of the 

industry – construction, large-scale manufacturing, remote sensing, national defense (military). 

Some applications for LADAR data are shown in Fig. 1.2. These applications include creating 

3-D models for as-builts, reverse engineering, surveying, urban planning, terrain mapping, and 

machine automation. 
3

Figure 1.2. Some Applications for LADAR Data –3D Models, Terrain Mapping, Surveying, 

Quality Control*.

The confidence in final products from the measurements - 3D models, positioning, derived

quantities (e.g., volume), etc. – depends largely on the accuracy and precision of the laser

scanner. Accuracy is defined by how close a measurement is to the true value, while precision is 

 

*

Certain trade names and company products are mentioned in the text or identified in an illustration in order to 

adequately specify the experimental procedure and equipment used. In no case does such an identification imply 

recommendation or endorsement by the National Institute of Standards and Technology, nor does it imply that the 

products are necessarily the best available for the purpose.

Courtesy of Quantapoint

Courtesy of Computer Terrain Mapping Inc.

Courtesy of J. Turner, Rapid

Terrain Visualization ACTD, 

Ft. Belvoir

Courtesy of Airborne 1

Courtesy of Cyra

Courtesy of Cyra
4

defined as the scatter or variation in repeated measurements. Generic instrumental uncertainties 

propagate through to end results.

A first, basic approach to the estimation of uncertainties associated with reconstruction of scene 

features is to incorporate propagation-of-error (“delta method”) based estimates of error [Taylor, 

1997] to the surface generation (meshing) algorithms. Roughly, this requires first order

estimates of error at any point in the mesh, i.e., standard error (or variance) of distance

measurements, and if possible second order estimates of spatial covariances between points. 

Spatial covariance of measurements taken in close proximity leads to refinement (2nd order 

terms) in propagation-of-error generated standard errors. Negative covariances may be exploited 

to improve the error estimates. Positive covariances inflate error estimates. The standard 

temporal correlation measure is the serial autocorrelation. Presence of significant autocorrelation 

indicates that standard error propagation methods may produce results that are better than

warranted. This is the underlying motivation for all the issues considered in this publication. 

We examine factors influencing the accuracy and precision of LADAR estimated distances (first 

order), and consider temporal autocorrelation and spatial covariance (second order) briefly as 

well in this report.

Besides instrument error, the computational techniques used to process the data contribute to the 

accuracy of estimating such derived quantities as volume and object position/dimensions. For 

example, model accuracy is affected by the number of points chosen to create the model (full or 

subset), and for a subset of points, selection of the points and number of points selected; if the 

point cloud consists of two of more scans obtained from different locations, how well were the 

different scans registered to a common reference frame; and how was noise filtered out.

This report deals primarily with the accuracy and precision (repeatability) of the hardware, i.e., 

the scanner, and not the software, and it describes experiments and statistical analyses conducted 

in order to determine the effect of color and angle of incidence on the accuracy and precision of 

the scanner’s range measurements. As a result of additional information gathered during the 

conduct of the range calibrations, the effect of distance on the signal intensity and laser

divergence could also be studied. These initial efforts contribute to the understanding of what is 

required to calibrate similar sensors in terms of significant parameters, test procedures, and 

calibration facility requirements. Other similar efforts may be found in Marshall and Gilby

[2001], Marshall et. al. [2001], Collier [1998], El-Hakim et. al. [1995], and Kweon et. al. [1991].

This report is organized as follows: An introduction is given in Chapter 1. Chapter 2 describes 

the different data sets and the conditions under which the data were collected. A discussion of 

the experimental results and an analysis of the results are given in Chapter 3. In Chapter 4, the 

findings based on the results of the experiments and research needs are presented.
 5

2.0 EXPERIMENTAL PARAMETERS AND PROCEDURES 

The laser scanner records range and intensity data. The maximum range of the tested laser 

scanner is 150 m, and the manufacturerís specified accuracy varies from ± 2 cm (best case) to 

± 5 cm (worst case). The range is based on the time-of-flight of the returned signal with the 

triggering of the detector based on the strength of return signal. The intensity data are integer 

values ranging from 0 (lowest) to 225 (highest) and are also a function of the strength of the 

return signal. 

The signal strength is primarily dependent on the distance and reflectivity of the object. The 

reflectivity of the object is a function of the objectís color, texture (smooth, rough), specularity. 

Since the scanner would be used to scan scenes that contain objects of varying colors and 

textures, a pilot experiment to assess the influence of color and/or texture on the accuracy of the 

range measurements was conducted. As more understanding and hands-on experience with the 

scanner was gained, the effect of angle of incidence emerged as a significant effect on the range 

accuracy and precision. Thus, additional tests were conducted to determine the effect of angle of 

incidence on the range accuracy and precision. Also, as discussed in Section 2.5, data on the 

intensity value were collected as the need to determine the effect of distance on the intensity 

value arose. All experiments took place at the NIST, Gaithersburg campus at four indoor sites. 

All experimental range data were collected in the form of (x, y) pairs where y = LADAR distance 

measurement and x = independent measurement of the distance, e.g., total station, interferometer 

or tape measure. This enables assessment of the accuracy of the LADAR as well as its precision. 

A summary of the varying test conditions used to study the effect of distance, color, and angle of 

incidence on the range accuracy is given in Table 2.1 (an ìXî in the column indicates that the 

parameter was studied). Color, specularity, and texture were varied between representative 

extremes and combined in fractional factorial fashion to examine the potential effects of each. 

Table 2.1. Test Parameters. 

Material Distance Angle of 

Incidence Intensity 

White, smooth, shiny X X X 

White, smooth, not shiny X 

Yellow, smooth, not shiny X 

Pink, smooth, not shiny X 

Green, smooth, not shiny X 

Dark Gray, rough, not shiny X 

Black, smooth, shiny X X X 

Black, smooth, not shiny X 

Silver (uncoated aluminum) X X X 

3M Long Distance Performance 

(LDP) ñ Reflective material X X 
 6

The most desirable distance calibration is an absolute distance calibration where the distance 

from the scanner to the target is accurately determined by independent means. However, for the 

first distance calibration, Data Set 1, the laser distances were compared with distances measured 

with an interferometer. The accuracy of the interferometer is several orders of magnitude better 

than that of the laser scanner. The interferometer is, however, a relative distance instrument. 

Therefore, the first calibration is a relative distance calibration. The subsequent data sets, Data 

Sets 2 to 8, are absolute distance calibrations. 

No facility currently available at NIST allows for long distance (≥ 100 m) calibration. 

Therefore, the absolute distance calibrations were conducted at the following four locations: 1.) 

Metrology Building, Bldg. 220 (60 m maximum clear line of sight) 2.) Building Research, 

Bldg. 226 (≈110 m maximum clear line of sight) 3.) Corridor spanning several buildings (>150 

m maximum clear line of sight) 4.) Tunnel, Bldg. 101 (> 150 m maximum clear line of sight). 

Except for the first location (Bldg. 220), environmental control was not possible at any of these 

sites. An ideal site would provide the following requirements: 1.) environmentally controlled 

(temperature, humidity, negative and positive barometric pressure control, uniform diffuse 

lighting) with multiple sensors throughout the lab to monitor the environmental conditions 2.) 

open space that is about 10 m (width) by 150 m to 200 m (length) 3.) controlled access into lab 

for eye safety and for ease of calibration (i.e., view of target not obscured by personnel walking 

between the target the scanner), 4) level concrete floor for installation of permanent benchmarks, 

and 5) diffuse black walls and floor. 

2.1 Data Set 1 – Effect of Color on Range Accuracy 

This set of measurements was conducted in an enclosed temperature controlled room located in 

the Metrology Building, Building 220 with fluorescent lighting where the temperature was held 

at approximately 20 °C. The maximum range achievable in this room is about 60 m. A 

heterodyne interferometer was used as the basis of comparison for the laser measurements. The 

accuracy of the interferometer is (0.93 μm/m) / °C and (0.36 μm/m) / mm of Hg (reference to 

20 °C and 1013 hPa). The environmental conditions for the experiments in Data Set 1 are given 

in Table 2.2. 

Table 2.2. Environmental Conditions for Data Set 1. 

Temperature 

(oC) 

Relative Humidity 

(%) 

Barometric Pressure 

Test Date (hPa) 

Start End Start End Start End 

July 14, 1999 20.8 20.8 45.5 45.0 1005.7 1004.6 

July 15, 1999 20.1 20.1 49.3 49.2 1007.3 1006.6 

Aug. 2, 1999 20.0 20.4 49.4 49.5 999.3 999.3 
 7

The interferometer was set up at one end of the test bench and the laser scanner was set up 

slightly behind it. The target was mounted on top of a small trolley that travels the length of the 

test bench along a guided rail. Comparisons using the interferometer were relative distance 

comparisons. For example, the target was set at some arbitrary distance, usually 2 m to 3 m, in 

front of the interferometer and a zero reading was obtained to this target. Distances thereafter 

were relative to this initial starting point. In the case of the laser scanner, the measurement 

obtained to the target set at the start point represented the distance from the target to the scanner 

and was used as the zero offset for measurements taken thereafter. 

The procedure involved both setting up the target and leveling the trolley. Readings were then 

obtained at the initial position from both the interferometer and the scanner. The target was 

moved 2 m, 4 m, 6 m, 8 m, 10 m, 15 m, 20 m, 30 m, 40 m, and 50 m beyond the start point. At 

each point, including the initial point, the distance was measured 25 times. 

The target was made by mounting a piece of letter size [216 mm x 279 mm (8.5 in x 11 in)], 

colored paper to a piece of cardboard. The colors were white, green, yellow, pink, gray, and 

black. All the targets were smooth except for the gray target. The gray rough target was a sheet 

of 80 grit sand paper. To make the target shiny, the target was placed inside a plastic, protective 

cover. The data for these tests are given in Table A.1. 

2.2 Data Set 2 – Effect of Distance (0 m to 60 m) on Range Accuracy 

The same temperature-controlled location used for collecting Data Set 1 was also used for the 

first series of absolute distance measurements. Several collinear points (benchmarks), marked by 

ball bearings, are permanently set in the floor at specified spacings. The maximum distance 

between the two farthest points is 60.96 m. 

The calibration procedure involved centering the scanner above one of the benchmarks and 

centering the target over another benchmark using a tribrach with an optical plummet. Twentyfive measurements were taken at each point. The scanner was set up at the ìzeroî mark and the 

target (white, not shiny) set up 30.48 m and 60.96 m from the scanner. The data from these tests 

are given in Table B.1. The environmental conditions were not recorded. 

To determine the measurement error due to environmental factors, a short parametric study was 

conducted. The corrections for a distance of 100 m were computed for the following 

combinations of environmental conditions: temperature of 20 oC and 30 oC, barometric pressure 

of 1000 hPa and 1015 hPa, relative humidity of 20 % and 50 %, and CO2 concentration of 

0.027 % and 0.033 % (0.03 % ± 10 %). The maximum correction for 100 m was +1.5 mm 

(generally occurred for cases when the temperature was 30 oC). Assuming the environmental 

conditions were similar to those for Data Set 1 (20 oC, 50 % RH, 1000 hPa, 0.03 % CO2), 

measurement error from environmental factors was +0.6 mm for 100 m. Thus, in this report, 

measurement errors from environmental factors are considered negligible compared to 

instrument error. 
 8

2.3 Data Set 3 – Extension of Data Set 2 (60 m to 108 m) 

As the maximum calibration distance was 60.96 m (200 ft) for Data Set 2, two other locations 

were found that allowed for longer distance measurements. One location was the attic of the 

Building Research building, Bldg. 226. However, this location was neither environmentally 

controlled nor air-conditioned. The maximum distance at this location was about 108 m. 

In the attic location, the distances between markers were measured with a tape measure. The 

distance ranged from 60 m to 108 m (measurements were taken to augment the data obtained in 

the environmentally controlled lab, Data Set 2; hence no measurements were taken at the shorter 

distances). Only one color target was used, white not shiny, and 25 measurements were taken at 

each distance. The target size was 216 mm x 279 mm (8.5 in x 11 in). The distance 

measurements were obtained on two different days, Jul. 28, 1999 and Aug. 2, 1999. The 

recorded temperature in the attic for the runs on Jul. 28, 1999 was 27.8 oC. No temperature was 

recorded for the tests on Aug. 2, 1999; however, based on data from the National Weather 

Service, the daily temperatures for Jul. 28, 1999 and Aug. 2, 1999 were comparable. The data 

from these tests are given in Table B.2. 

The procedure used to center the scanner and target over a point on the floor is the same. It 

involves setting up a surveying tripod over the point, leveling a tribrach that is attached to the 

tripod, centering the tribrach over the point on the floor using the optical plummet, installing the 

scanner/target in a tribrach and locking it in, and re-leveling and re-centering the tribrach as 

needed. 

2.4 Data Set 4 – Effect of Distance (5 m to 160 m) on Range Accuracy 

Since the calibration distance for Data Set 3 was limited to 108 m, another location had to be 

found to determine the range accuracy at 150 m, the scannerís maximum range. The location 

selected was a hallway that spanned several buildings and offered a clear distance of at least 

150 m. One side of the hallway that connected the buildings consisted of large glass windows, 

causing temperature variations along its length. However, all the buildings and hallways were 

air-conditioned and the temperature should be closer on average to the temperature of 20 oC than 

in the attic location (see Section 2.2 for discussion of measurement errors due to environmental 

factors). 

The calibration distances in the hallway ranged from 5 m to 161 m. Markers were laid on the 

floor and the distances from the markers to a reference zero position were measured using a total 

station. The overall accuracy of the total station was ± 3 mm. The targets were white not shiny, 

green not shiny and black not shiny and the size of the targets was 216 mm x 279 mm (8.5 in x 

11 in). To increase eye safety indoors, a filter was provided to reduce the energy of the laser. To 

determine the effect of the filter on the range accuracy, a series of measurements were made 

using the black not shiny and green not shiny targets. One set of measurements was obtained 

with the filter attached and another without the filter. In the previous calibrations, 25 

measurements were obtained at each distance; however, it was decided that 10 measurements 

were sufficient to assess repeatability. Therefore, for this and subsequent data sets, 10 
 9

measurements were obtained at each distance. Data for these experiments are given in Table 

B.3. 

2.5 Data Set 5 – Effect of Distance (10 m to 150 m) on Range Accuracy and Effect of 

Distance on Intensity Value 

The calibrations described above (Data Sets 1 to 4) were aimed at getting a rough estimate of the 

general accuracy of the scanner and determining if the range accuracy and precision were 

dependent on material color. A further calibration was to characterize the scannerís range 

accuracy and to determine if there were any patterns in the intensity. Rather than using the 

location used for Data Set 4, an alternate location was found where the lighting and temperature 

would be more uniform throughout the length of hallway. This location was in a ìtunnelî (long 

underground hallway) of Bldg. 101 of NIST. There are no windows along the tunnel. The 

calibration distances ranged from 10 m to 150 m. The various distances from the zero or 

reference point were obtained using a total station with an accuracy of ± 3 mm. 

Based on a preliminary review of Data Sets 1 to 4, it was decided that only 3 colors would be 

used ñ white, black, and shiny silver (unpainted aluminum sheet). The target size was 406 mm 

(16 in) wide by 508 mm (20 in) long. The target size was chosen so that it would be larger than 

the size of the laser beam at 150 m. 

NIST is currently examining the utility of using LADAR intensity data for ìreadingî bar codes 

or tags for the purpose of object identification. In order to ìreadî the bar code, its existence has 

to be first established. To do this, the bar code has to have a unique feature or characteristic so 

that it is easily identifiable. Therefore, the bar code would have to be made of a material that 

makes it easily distinguishable from any background material based on the returned intensity 

value. It was felt that a good candidate material would be one that had a return intensity that was 

much higher than any other material commonly found at a construction site and that was 

consistently high for distances of 0 m to 150 m, i.e., intensity did not drop off with distance. 

These requirements are essential as the returned intensity is dependent on several factors ñ 

reflectance of object, distance to object, reflectance of the surrounding objects, lighting (e.g., 

sunlight, shade), etc. This dependency means that the intensity of a black object at 10 m could 

be the same as the intensity of a shaded white object at 50 m and there would be no way to 

determine if the object was black or white based solely on the intensity value. 

As a result, a fourth target made of 3M Long Distance Performance (LDP) material was made. 

The 3M LDP material is a reflective prismatic lens sheeting that is used for traffic signage. This 

material was chosen as it was readily available, durable, and would reflect light even if angled 

away from the light source. A photo of the LDP material and several magnified images are 

shown in Figs. 2.1 and 2.2 and it can be seen that the sheeting is made up of many small prisms. 
 10

Figure 2.2a. Magnified Photo of LDP Material: Width represents 6 mm of surface. 

Figure 2.1. Photograph of 3M LDP 
 11

In anticipation of the need to read bar codes angled away from the scanner, the LDP target was 

rotated to three positions ñ 0o, 45o, and 60o (Fig. 2.3). 

Top View of Set-up 

Figure 2.3. Rotation Orientation of LDP Target. 

For Data Set 5, ten measurements (both range and intensity) were recorded at each distance. The 

data are given in Table B.4. 

Figure 2.2b. Magnified Photo of LDP Material: Width represents 1.5 mm of surface. 

Target rotation = 45o 

Laser 

Beam 

Figure 

Scanner Scanner Scanner

Target rotation = 60o

0o 

Angle 

of incidence = 

target rotation 
 12

2.6 Data Set 6 – Effect of Angle Incidence on Accuracy 

When conducting some simple scans of a box to test some post-processing software, the effect of 

split signals was noticed. Using the box as an example, split signals occurred when part of the 

signal hit the top of the box and the other part hit the floor beyond the box. The resulting 

instrument reported range is an interpolation between the two ranges. This creates ìphantom 

pointsî (Fig. 2.4) ñ points that do not actually exist. 

As stated by the manufacturer, the size of the laser beam as it exits the scanner is 42 mm (high) 

by 25 mm (wide). The beam has a divergence of 3 mrad, horizontal and vertical. This translates 

into a beam size of 342 mm (high) x 325 mm (wide) at 100 m. As a result of this large beam size 

and the splitting of the beam, it is probable that the range accuracy will be affected by the angle 

of incidence (see Fig. 2.3) ñ the greater the angle and the longer the distance, the more adverse 

the effect. 

To determine the effect of the angle of incidence on range accuracy, the same three targets used 

for Data Set 5 were reused ñ white, black and shiny silver (uncoated aluminum). For these tests, 

the targets were rotated from 0o to 90o in increments of 10o (measurements were also obtained at 

85o) with 10 measurements taken at each angle of incidence. The distance ranged from 10 m to 

Figure 2.4. Point Cloud of Box Showing Phantom Points. 

Floor 

Box top 

Side View of Box 

Phantom 

points 
 13

100 m in increments of 10 m. The location of the tests was the attic of Bldg. 226. The distances 

from the zero reference point were measured with a tape measure*

. 

The conduct of these tests was more difficult than those of the previous tests. Since the tests 

involved rotating the target, it was important that the center of the laser beam coincide with the 

center of the target. This presented some difficulty as the scanner utilized an infrared (IR) laser 

(λ = 903 nm) and the laser was pulsed with a duration of 17 ns. As the main purpose of the 

scanner is to acquire data of a scene, the scanner could not be set up to automatically take the 

same point measurement repeatedly. 

To find the center of the laser beam, an IR viewer was used to see the projection of the laser on 

the target. In order to see the laser projection through the IR viewer, the vicinity of the target 

had to be semi-dark for shorter distances (approximately 20 m or less) and be in total darkness 

for longer distances, because of the low laser power output. The procedure used to co-locate the 

beam center with the target center is as follows: 

1. Set-up target over desired distance and attach a sheet of paper to the target. 

2. Find the center of the target and mark it on the paper. Make a mark that is 79 mm 

(3.125 in) above the center mark (see Fig. 2.5). 

Figure 2.5. Alignment Markings on Target. 

3. Align the crosshairs of the laser scanner riflescope with mark A (Fig. 2.5) on the 

target. 

4. Turn off lights. 

5. Have one person at the target with an IR viewer and another at the scanner control. 

6. Have the person at the target outline the beam with a marker as the person at the 

control fires the laser in rapid succession. 

7. Repeat Step 6 with a different person outlining the beam. 

8. Turn lights on. 

9. Find the center of the beam - visually. 

 

*

 As the objective of this experiment was to determine the effect of angle of incidence and not to determine range 

accuracy, the reference distances were measured with a tape measure rather than with a total station. 

Center of

target

Target 

Paper 

Alignment 

mark, Mark 

A, for 

riflescope 
 14

10. If center of the beam does not coincide with center of the target, make the necessary 

rotations to the scanner to align the two centers and repeat Steps 4 to 10. If it does, 

continue with calibration. 

Some notes about the above alignment process: 

1. Step 6 ñ outlining the beam 

a. This step is very subjective, which is the main reason why a second person 

repeated the procedure (Step 7). 

b. The difficulty in outlining the beam was increased by the need for semi- to total 

darkness. It was very difficult to see where the pen was on the paper to assure 

that what was being outlined was indeed what was seen. For future tests, it may 

be easier if some type of fluorescent tape were attached near the tip of the marker 

so that it is visible in the dark. 

c. Triggering of laser - for safety reasons, the laser only fires when the scanner is in 

motion, i.e., when it is scanning. For the calibration, the scanner was set up to 

acquire only one data point. The inability of the laser to fire continuously so that 

the projection of the beam could be seen more clearly increased the difficulty in 

outlining the beam. 

Another issue that should be considered is the uncertainty of the pointing 

accuracy of the scanner. When the scanner obtains a point scan, it moves off the 

point to the next point. It therefore has to move back to the previous point to take 

another scan of the ìsameî point. This issue was not considered at this stage as 1) 

determining the pointing accuracy of the scanner would be an entire project in 

itself and 2) the contribution to the total error from this issue is insignificant 

compared to the operator error in outlining the beam. 

d. The second person was not biased by the results of the first person as the 

markings on the paper were not visible, due to the total darkness, when the second 

person was outlining the beam. 

2. In all cases except for one, visual inspection of the target showed that the centers of 

the beam and target were aligned after the first attempt and there was no need for 

further adjustments to reposition the scanner; the minimum movement of the scanner 

is limited by the minimum resolution of the stepper motor, i.e, the minimum angle 

between scan points. In the one instance where the centers did not coincide, only 

small adjustments were necessary to align the centers of the beam and the target. 

This indicates that the riflescope was aligned with the axis of the laser beam and that 

the alignment performed in Step 3 would yield a good alignment of the target with the 

scanner. 

The data collection for this set was accomplished over a period of 3 nonconsecutive days. The 

environmental conditions when the data were collected are given in Table 2.3. On Feb. 26 and 
 15

27, 2002, the objective of the tests was to gather additional information on beam size as a 

function of distance and not to gather additional information on distance accuracy as a function 

of angle of incidence. 

Table 2.3. Environmental Conditions for Data Set 6. 

Distance 

(m) 

Temperature 

(oC) 

Relative Humidity 

(%) 

Barometric Pressure 

(hPa) 

Date 

Start End Start End Start End 

Nov. 1, 2001 10 25.1 25.7 33.2 33.5 1007.0 1007.0 

Nov. 5, 2001 20 23.8 23.8 26.5 26.5 1001.5 1002.0 

Nov. 5, 2001 30 24.0 23.8 27.0 26.5 1001.5 1001.5 

Nov. 28, 2001 40 22.5 23.6 38.5 40.0 1005.0 1005.5 

Nov. 28, 2001 50 23.6 24.6 40.0 38.3 1005.5 1005.0 

Nov. 28, 2001 60 25.2 25.4 34.2 35.0 1005.0 1004.0 

Nov. 28, 2001 70 25.4 25.6 35.0 34.5 1004.0 1004.5 

Nov. 28, 2001 80 25.6 25.6 34.5 38.5 1004.5 1005.0 

Nov. 28, 2001 90 25.6 25.4 38.5 38.5 1005.0 1005.0 

Nov. 28, 2001 100 25.4 25.2 38.5 37.2 1005.0 1005.5 

Feb. 26, 2002 90, 5, 2 29.1 27.5 28 28 987 984 

Feb. 27, 2002 100, 2 22.8 23.7 25 25 989 989 

2.7 Data Set 7 –Spatial Correlation 

This data set was designed to give initial estimates of spatial correlation for the simplest of 

LADAR scans: replicated points along closely spaced adjacent strips. The data acquisition was 

very simple. The procedure involved obtaining 3 vertical scan lines with each scan repeated 10 

times (see Fig. 2.7). The variables in the experiment were the vertical and horizontal angle 

increments (0.045o, 0.090o, and 0.180o) ñ the vertical distance, v, between points. Twenty-five 

measurements per line were obtained for each line. The target was located 10 m from the 

scanner and was a sheet of plywood (4 ft x 8 ft) that was painted white. The data for this data set 

are given in Table B.6 in Appendix B. 
 16

Figure 2.7. Schematic of Test Set-up. 

2.8 Data Set 8 – Autocorrelation 

The distance to the ìsameî point was measured 100 times to test the presence of autocorrelation. 

For this data set, the scanner was set up at about 20 m from a target. Once the scanner was set 

up, measurements were obtained by firing the laser and then manually recording the 

measurement ñ this procedure was repeated 100 times. The data are given in Table B.7, in 

Appendix B. 

 Stri

p 1 

 Stri

p 2 

 Stri

p 3 

v

Flat surface - 

plywood 

sheet painted 

white 

LADAR 

h
 17

3.0 ANALYSIS AND DISCUSSION OF RESULTS 

This chapter has been organized by the examination of specific effects rather than by a sequential 

discussion of each data set. The effect of color is presented in Section 3.1 and the data from 

Data Sets 1 to 6 are included. A discussion of the effect of target color/reflectivity and distance 

on intensity, Data Set 5, is given in Section 3.2. The effects of angle of incidence, Data Set 5 

and 6, are presented in Section 3.3, and beam divergence, Data Set 6, is discussed in Section 3.4. 

Discussions of autocorrelation, Data Set 8, and covariance, Data Set 7, are given in Section 3.5. 

3.1 Color 

3.1.1 Data Set 1

Table 3.1 gives the slopes with associated standard uncertainties from ordinary linear leastsquares fits of LADAR distance measurements versus interferometer distance measurements. In 

addition to the slope and its standard uncertainty, residual standard deviations from the fitted line 

are also reported in Table 3.1. The residual standard deviation is computed as the square root of 

the sum of squares of the deviations from the fitted line (residuals) divided by the degrees of 

freedom, (N ñ2), where N is the number of points and ì2î represents the two parameter 

constraints (slope and intercept). 

In Table 3.1, two sets of numbers are given for the slope, standard uncertainty and residual 

standard deviation: ìReplicateî and ìAveragedî. The values for the column labeled ìReplicateî 

were obtained by fitting all the data points as though they were replicates. However, the points 

were not true replicates because the instrument was set up once and the points were taken in 

quick succession without the instrument being taken down and set up again after each distance 

measurement. Therefore, an average of the laser measurements at each distance was also fitted 

as a function of the interferometer distance, and the associated statistics for the regression fits are 

shown under the column labeled ìAveragedî in Table 3.1. 

Table 3.1. Data Set 1: Slopes and Standard Uncertainties From Regression Fits. 

Color/texture Slope Standard Uncertainty 

of Slope (m) 

Residual Std. Dev. 

(m) 

 Replicate Averaged Replicate Averaged Replicate Averaged 

White, smooth, not shiny 1.0070 1.0070 0.0005 0.0026 0.1305 0.1354 

White, smooth, shiny 0.9989 0.9988 0.0001 0.0002 0.0254 0.0117 

Black, smooth, not shiny 1.0034 1.0032 0.0002 0.0004 0.0334 0.0145 

Black, smooth, shiny 1.0029 1.0029 0.0001 0.0004 0.0372 0.0227 

Dark gray, rough, not 

shiny 

1.0032 1.0032 0.0002 0.0005 0.0394 0.0177 

Yellow, smooth, not 

shiny 

0.9992 0.9992 0.0001 0.0003 0.0258 0.0173 

Pink, smooth, not shiny 1.0001 1.00005 0.0002 0.0007 0.0412 0.0360 

Green, smooth, not shiny 0.9993 0.9993 0.0001 0.0005 0.0294 0.0232 

Green, smooth, not shiny 0.9995 0.9994 0.0001 0.0005 0.0301 0.0246 
 18

There are no gross differences between the slopes and standard uncertainties for replicate versus 

the average case. In both cases, there is no gross variation in slope and standard uncertainty 

across different color/texture combinations. The somewhat elevated standard uncertainty for the 

white, smooth, not shiny target may be because of it being the first experiment run. Variations 

observed (not reported here) in the intercept can be attributed to the relative nature of the 

distance measurements and are therefore of no interest. The replicate standard deviations 

consistently dominate the averaged residual standard deviations (with the exception of the 

aberrant white/smooth/not shiny), as we would expect. The average deviation from fit error for 

multiple lines should exceed that for a single (averaged) line. The replicate standard deviations 

exceed the manufacturerís specified accuracy of ± 2 cm for all cases, whereas the averaged are 

much closer to the manufacturerís specification for most cases. 

Application of a formal statistical test [Sachs, 1982] for the equality of slopes of least-squares 

fitted lines of the replicated data, in this case very large N (≈ 2 357) formally rejects the null 

hypothesis of equality of slopes. This is in agreement with the conclusion that would be drawn 

from comparing estimated slopes ± 2 σ in Table 3.1, and is, at least in part, a consequence of the 

large sample sizes (≈ 275) associated with each of the individual line fits. Here, however, the 

formal test is of little direct utility. We find the more broadly applicable conclusions of the 

graphical analyses of range- and color dependent precisions and biases to be much more 

informative. 

A plot of the accuracy, or bias, as a function of color and surface roughness for Data Set 1 is 

shown in Fig. 3.1. In Fig. 3.1, the terms ìtall postî and ìshort postî refer to a post that was 

located slightly behind the target. In the case of the ìtall postî, the post extended above the 

target, while for the ìshort postî the post did not extend above the target. The calibration with 

the ìshort postî was undertaken to determine if the presence of the ìtall postî contributed to the 

measurement errors. When no ìtallî or ìshortî post is indicated, a ìshortî post was used. 

The red dashed lines*

 in Fig. 3.1 indicate the stated instrument accuracy of ± 2 cm. From Fig. 

3.1, several observations can be made: 

1. Pink, not shiny stands out as being biased consistently (i.e., independent of distance) low 

with respect to the nominally ìtrueî reading. 

2. Dark gray and black targets are biased consistently high with the accuracy decreasing 

with increasing distance from the target. The precision of the measurements for these 

targets is also seen to decrease with increasing distance. 

3. Green and yellow lie closer to the ìtruthî. 

4. There is a visible stratification of target types indicating an unambiguous color/roughness 

effect for accuracy. 

 

*

 General notes: 1) Throughout this report, error is used to denote: Error = Measurement ñ ìtruthî. 2) 

Solid/dashed red lines in figures indicate stated instrument accuracy of ± 2 cm. 
 19

Figure 3.1 Data Set 1: Error vs. Distance 

(Error = Mean laser distance ñ Interferometer distance). 

Figure 3.2 shows the scatter of the replicated laser measurements from Data Set 1 as a function 

of color/roughness and distance from the target. Here, standard deviation denotes the ordinary 

sample standard deviation (ìsî) computed over the replicated points at each fixed nominal 

distance. 

Again, some patterns are readily detected in the figure. White targets are noisier in the 0 m to 

20 m range, and black targets exhibit the largest variation in the 30 m to 50 m range. 
 20

Figure 3.2. Data Set 1: Standard Deviation of Laser Measurements. 

Figures 3.3a to 3.3f give a different representation of the data shown in Figs. 3.1 and 3.2. 

Accuracy and standard deviation (error bars in the figure) are plotted on the same plot for each 

color, separately. The observations made for the pink, yellow and green targets are also seen in 

Figs. 3.3d, e, and f. Some observations that are not so obvious in Figs. 3.1 and 3.2 can be 

appreciated in Figs. 3.3a, b, and c. In Fig. 3.3a (white target), the stratification in accuracy 

across the three targets represented is clear, offset only by the obvious white, not shiny, tall post 

highliers at 40 m and 50 m. The standard deviations for the material with the higher reflectance 

(shiny) are smaller than for the material with less reflectance (not shiny). Figures 3.3b and 3.3c 

(black and dark gray targets, respectively) show a clear decrease in both accuracy and 

repeatability as a function of increasing distance. For the black target, the one with the higher 

reflectance (shiny) shows a slightly lower error and greater repeatability than the target with 

lower reflectance. 

The errors for the white, black, green, and yellow targets are seen to generally conform to the 

± 2 cm specification, although the errors for the black target begin to deviate beyond 20 m. The 

pink and dark gray targets, on the other hand, exceed the specification almost immediately, and 

throughout the entire measured range. 
 21

 a. White b. Black 

 c. Dark gray d. Pink 

Figure 3.3. Data Set 1: Error Plots (Error bars = 1σ). 

-0.2

-0.1

0

0.1

0.2

0.3

0.4

0.5

0.6

0 10 20 30 40 50 60

White, not shiny, tall

White, not shiny, short

White, shiny, tall

Error (m)

Distance (m)

-0.2

-0.1

0

0.1

0.2

0.3

0.4

0.5

0.6

0 10 20 30 40 50 60

Black, not shiny

Black, shiny

Error (m)

Distance (m)

-0.2

-0.1

0

0.1

0.2

0.3

0.4

0.5

0.6

0 10 20 30 40 50

Dark Gray, rough

Error (m)

Distance (m)

-0.2

-0.1

0

0.1

0.2

0.3

0.4

0.5

0.6

0 10 20 30 40 50 60

Pink, not shiny

Error (m)

Distance (m)
 22

 e. Yellow f. Green 

Continue Figure 3.3. Data Set 1: Error Plots (Error bars = 1σ). 

Summary for Data Set 1: Global goodness-of-fit or precision statistics do NOT exhibit any gross 

color/texture-specific pattern, while localized precision estimates, in some cases, do exhibit clear 

patterns. Most prominent are color specific inaccuracies in distance measurement, with the black 

target being biased high (beyond the specifications of the instrument), white and pink targets 

biased low, and colors in between the two extremes giving the most accurate readings. 

3.1.2 Data Set 4

Table 3.2 shows the coefficients and statistics for the linear regression fits for Data Set 4 ñ the 

first data set where distances ranged from 5 m to 150 m. The notation ìwith Filterî or ìFilterî 

refers to the case when a filter was attached to the front of the LADAR and the term ìwithout 

Filterî or ìNo filterî refers to the case when the filter was removed. The filter was supplied by 

the manufacturer to reduce the output power of the LADAR for additional eye safety in indoor 

environments. It is expected that the data acquired with the filter attached would exhibit larger 

error and variability. 

As seen in Table 3.2, comparison of the slopes for the black and green targets show little 

difference in the slopes and intercepts for the case of ìwithî and ìwithoutî filter. The F-test does 

not reject the null hypothesis of equality of slopes. However, for the black target, the residual 

standard deviation (RESSD) is reduced by (50 to 60) % when the filter was removed, i.e., the 

data were more precise without the filter. The results for the green target are inconclusive 

regarding precision and the presence of the filter. 

-0.2

-0.1

0

0.1

0.2

0.3

0.4

0.5

0.6

0 10 20 30 40 50 60

Yellow, not shiny

Error (m)

Distance (m)

-0.2

-0.1

0

0.1

0.2

0.3

0.4

0.5

0.6

0 10 20 30 40 50 60

Green, not shiny

Error (m)

Distance (m)
 23

Table 3.2 Data Set 4: Slopes and Standard Uncertainties From Regression Fits. 

Slope Intercept (m) Standard Uncertainty 

of Slope (m) RESSD (m) 

Target 

Replicate Averaged Replicate Averaged Replicate Averaged Replicate Averaged 

With Filter 

Black, not shiny 1.0010 1.0010 -0.0304 -0.0304 0.00013 0.00029 0.07382 0.05298 

Green, not shiny 1.0001 1.0002 0.0252 0.0211 0.00014 0.00014 0.08347 0.02586 

Without Filter 

Black, not shiny 1.0000 1.0002 0.0266 0.0208 0.00008 0.00025 0.04568 0.03526 

Green not shiny 1.0000 1.0000 0.0153 0.0153 0.00009 0.00022 0.05090 0.03088 

White, not shiny 1.0001 1.0001 0.0286 0.0282 0.00005 0.00010 0.02918 0.01763 

Figures 3.4a and 3.4b show the error as a function of distance to the target for Data Set 4. Figure 

3.4a shows the errors when no filter was attached to the LADAR. Fig. 3.4b shows the errors 

when the filter was attached to the LADAR. 

Figure 3.4a. Data Set 4: Error vs. Distance.

No Filter on LADAR 
 24

In the ìNo Filterî figure (Fig. 3.4a), there is a subtle but unmistakable stratification between 

green and white targets, with white errors dominating across most of the range, specifically in 

the 0 m to 50 m and in the 100 m to 160 m regions. The errors attributed to the black target, in 

contrast, meander and intermix throughout the plot. 

In the ìWith Filterî figure (Fig. 3.4b), there is no apparent color effect, although the error 

increases noticeably for both colors in the 140 m to 160 m range. It appears that the combination 

of reduced power due to the presence of the filter and dispersion of the signal strength with 

distance, and a less reflective (i.e., more absorbing) target has a significant adverse affect on the 

accuracy at the upper range of the scanner. Since Figs. 3.4a and b have the same vertical scale, 

they can be compared directly. Except for the high lying points at 140 m and 160 m, there is no 

readily apparent difference in accuracy between the filtered and unfiltered situations, contrary to 

expectations. 

The standard deviations of the errors for Data Set 4 are given in Figs. 3.5a and 3.5b. The figures 

make clear that the measurements obtained with the filter are noisier that those obtained without 

the filter for distances of 120 m to 150 m. Also, a green versus black effect is clearly visible in 

the filtered case, variabilities (standard deviations) for the black target dominating those of the 

green for almost all the distances. 

Figure 3.4b. Data Set 4: Error vs. Distance.

Filter on LADAR 
 25

Figure 3.5b. Data Set 4: Standard Deviation of Errors. 

Filter on LADAR. 

Figure 3.5a. Data Set 4: Standard Deviation of Errors. 

No Filter on LADAR 
 26

Figures 3.6a to 3.6c break out the data from Figs. 3.4 and 3.5, a color at a time. Figures 3.6 

reinforce the conclusions from Figs. 3.5, except that in addition, these figures make clear that (1) 

in all cases, variability increases with increased distance, and the consequent tendency for points 

to fall outside the specification ± 2 cm and (2) this heteroscedastic effect ñ in the case of length 

metrology ñ is especially pronounced for the filtered black and green cases. 

 a. White b. Black 

c. Green 

Figure 3.6. Data Set 4: Error Plots (Error bars = 1σ) 

-0.2

-0.1

0

0.1

0.2

0.3

0.4

0 20 40 60 80 100 120 140 160

White

Error (m)

Distance (m)

-0.2

-0.1

0

0.1

0.2

0.3

0.4

0 20 40 60 80 100 120 140 160

Black w/o filter

Black w/ filter

Error (m)

Distance (m)

-0.2

-0.1

0

0.1

0.2

0.3

0.4

0 20 40 60 80 100 120 140 160

Green w/o filter

Green w/ filter

Error (m)

Distance (m)
 27

Summary for Data Set 4: No marked filter or color effect is observed in the global line statistics. 

But subtle effects are observed with respect to localized precision and statistics, and significant 

effects with respect to accuracy. The presence of the filter significantly increases the error and 

noise for the black target (least reflective) at the upper range of the scanner. 

3.1.3 Data Set 5

The locations at which the data for Data Sets 1 to 3 were collected did not allow for the 

calibration of the maximum range of the LADAR. The locations at which the data for Data Sets 

4 and 5 were collected did allow for calibration of the maximum range of the LADAR. 

However, the location for Data Set 5 was felt to be more environmentally controlled than the 

location of Data Set 4 (see Section 2.4). Therefore, for these reasons in addition to the fact that 

more experienced was gained by the time the data for Data Set 5 was collected, the data in Data 

Set 5 is considered to be more reliable for the evaluation of range accuracy and precision as a 

function of color and distance. 

The coefficients for the regression fits for Data Set 5 are shown in Table 3.3. As with the 

previous data sets, there are no gross differences among the slopes and standard uncertainties of 

the slope except for the LDP, 60o target which has a standard uncertainty that is significantly 

higher than the rest, although, the formal F-test does reject the null hypothesis of the equality of 

slopes. The residual standard deviations for the black, white, and silver shiny targets are within 

about 10 % of each other and are slightly over the specified accuracy of ± 2 cm. The residual 

standard deviation for the LDP, 0o target is about 25 % greater that the average of the black, 

white, and silver, shiny targets. As expected, the residual standard deviation increased for 

increased angle of incidence ñ significantly greater than the ± 2 cm specified limits. Further 

comparisons of the LDP targets will be made in Section 3.3 (angle of incidence). Discussions in 

this section will generally include only the first four targets listed in Table 3.3 since are they are 

comparable, i.e, the angle of incidences for these four targets are 0o. 

Table 3.3. Data Set 5: Slopes and Standard Uncertainties from Regression Fits. 

Slope Intercept Standard Uncertainty 

of Slope (m) 

RESSD 

Target (m) 

Replicate Averaged Replicate Averaged Replicate Averaged Replicate Averaged 

Black 1.0001 1.0001 -0.0104 -0.0110 0.00007 0.00016 0.03875 0.02734 

White 0.9995 0.9995 0.0210 0.0200 0.00007 0.00018 0.03501 0.03040 

Silver, Shiny 1.0001 1.0001 -0.0254 -0.0256 0.00004 0.00005 0.02159 0.00878 

LDP, 0o 0.9987 0.9987 0.1128 0.1132 0.00007 0.00021 0.03862 0.03563 

LDP, 45o 0.9997 0.9996 -0.0200 -0.0193 0.00009 0.00027 0.04646 0.04464 

LDP, 60o 1.0001 1.0000 0.0010 0.0029 0.00013 0.00041 0.06778 0.06844 

The errors and standard deviations of the errors for Data Set 5 are shown in Figs. 3.7 and 3.8, 

respectively. In Fig. 3.7, the high reflectance of the LDP target induces significant error in the 

distance measurement for distances of 20 m or less. Overall, the LDP trace appears to linearly 

increase through the entire range. The large errors for the LDP target in the shorter distances 

(0 m to 50 m) are likely a result of the detector being saturated by the strong return signal of the 
 28

highly reflective material. Furthermore, these errors are biased low, that is, the target appears 

closer than in actuality. These observations were also noted by Collier [1998]. Reflectance is 

seen in this case to contribute directly to inaccuracy in the distance measurements. 

There are no obvious patterns for repeatability, or standard deviations of the replicated 

measurements, for most of the targets in Fig. 3.8: the values for white, silver shiny and LDP 

targets do not stand out in terms of increased or decreased or stratified noisiness. Black, 

however, does pull apart from the other three in the 80 m to 150 m range: the black 

measurements for this range are distinctly noisier than those for the other three targets. 

Figure 3.7. Data Set 5: Error vs. Distance. 

(Error = Mean laser distance ñ total station distance). 
 29

Figures 3.9a to 3.9d break out the data from Figs. 3.7 and 3.8, a color at a time. The figures 

display clearly the degraded accuracy of the LDP target at 0 m to 40 m, and again, the roughly 

linear rise of the LDP error from negative to positive bias. While the sliver and black targets 

results appear relatively tame, the accuracy for the white target decreases steadily for distances 

beyond 120 m. Again, the error bars of Fig. 3.9a clearly show that the black target is noisier than 

the other targets in the 80 m to 150 m range. This decrease in precision with increase distance 

was also noted in Data Set 4; however, this phenomenon was noted for all targets ñ black, white, 

and green ñ and not just for the black target as is the case in Data Set 5. 

Figure 3.8. Data Set 5: Standard Deviation of Error of Laser Measurements. 

0.000

0.005

0.010

0.015

0.020

0.025

0.030

0.035

0.040

0.045

0 20 40 60 80 100 120 140 160

Distance (m)

Standard Deviation (m)

Black

White

Silver, shiny

LDP, 0o
 30

 a. Black b. White 

 c. Silver d. LDP, 0o 

Figure 3.9. Data Set 5: Error Plots (Error bars = 1σ). 

Summary of Data Set 5: Effects appear both in the consideration of localized precision statistics 

and overall residual error, and very noticeable effects are seen on accuracy, particularly in the 

case of the LDP target. It is clear that reflectance properties can have very real effects on the 

accuracy of the distance measurements. 

-0.2

-0.15

-0.1

-0.05

0

0.05

0.1

0.15

0.2

0 20 40 60 80 100 120 140 160

Black

Error (m)

Distance (m)

-0.2

-0.15

-0.1

-0.05

0

0.05

0.1

0.15

0.2

0 20 40 60 80 100 120 140 160

White

Error (m)

Distance (m)

-0.2

-0.15

-0.1

-0.05

0

0.05

0.1

0.15

0.2

0 20 40 60 80 100 120 140 160

Silver

Error (m)

Distance (m)

-0.2

-0.15

-0.1

-0.05

0

0.05

0.1

0.15

0.2

0 20 40 60 80 100 120 140 160

LDP 0 deg

Error (m)

Distance (m)
 31

3.1.4 Combined Data Sets

Figures 3.10a and 3.10b show the errors and standard deviations for white and black targets 

cumulated from Data Sets 1 to 6. From Fig. 3.10a, there is no pronounced black versus white 

effect although about half of the data fall outside the specified instrument accuracy. In 

Fig. 3.10b, a clear pattern can be discerned. The measurements of white targets are noisier in the 

0 m to 50 m range while the black targets are noisier in the 60 m to 150 m range with a linear 

increase above the 100 m range. In fact, it appears that the repeatability for the white targets 

goes roughly linearly down across the range of distances presented by the data while the 

repeatability for the black targets goes approximately linearly up. 

Figure 3.23. Individual Band Widths vs Distance. 

Figure 3.10a. Combined Errors for White and Black 

Targets from Data Sets 1 to 6. 
 32

3.2 Intensity 

A plot of the intensity versus distance to the target is shown in Fig. 3.11. As seen in Fig. 3.11, 

the intensity values for the LDP target at 0o are consistently high ñ 200 to 250 over the entire 

range of the scanner ñ and are easily distinguishable from the other targets. As expected, the 

intensity values drop off when the target is turned 45o away from the scanner - the intensity 

values for the LDP target at 45o are very similar to those for the shiny silver target at 0o and one 

could be mistaken for the other. At an angle of incidence of 60o, the intensity values for a LDP 

target would be indistinguishable from values for the white target. Although stratification of the 

intensities for white and LDP at 60o targets can be seen in Fig. 3.11, it would be hard to 

determine the color/reflectance of the object struck for each point in a scene. For example, an 

intensity value of about 90 could be for a point off an LDP target rotated at 60o at 120 m or a 

white target at 80 m or a black target at 20 m. Thus, without additional information, one would 

not be able to determine if the target was white, black or LPD rotated at 60o. Also, as mentioned 

in Section 2.2.4, the intensity values also depend on the lighting conditions and would likely be 

different in bright sunlight or in shadow. 

Figure 3.10b. Standard Deviations for White and Black 

Targets from Data Sets 1 to 6. 
 33

Figure 3.11. Data Set 5: Intensity vs. Distance. 

In Fig. 3.11, the intensity values for the black, white, and LDP at 60o targets are increasing at 

distances of 140 m and 150 m which is contrary to what would be expected. This increase may 

be attributed to the contribution of the white wall behind the target at the longer distances. The 

wall was located about 160 m from the scanner. 

The intensities from Data Set 6 are plotted in Figs. 3.12a to 3.12c. The actual intensity values 

from this data set are very similar to those from Data Set 5 and show the same sort of trends for 

the white, black, and silver targets, with the silver target displaying the most pronounced 

stratification, especially at angle of incidences of 0o and 10o. In Fig. 3.12c, the intensities for the 

targets at higher angles of incidence appear to increase as the distance increases. This increase in 

intensity is due to the fact that a larger portion of the beam is being reflected back off the white 

wall behind the target at the higher angles of incidence. 

0

50

100

150

200

250

0 20 40 60 80 100 120 140 160

Distance (m)

Intensity

Black

White

Silver, shiny

LDP, 0o

LDP, 45o

LDP, 60o
 34

Figure 3.12a. Data Set 6: Silver Target Intensity as a Function of Distance and Angle of 

Incidence. 

Figure 3.12b. Data Set 6: White Target Intensity as a Function of Distance and Angle of 

Incidence. 

Silver

0

50

100

150

200

250

0 20 40 60 80 100 120

Distance (m)

Intensity

0o

10o

20o

30o

40o

50o

60o

70o

80o

85o

90o

White

0

50

100

150

200

250

0 20 40 60 80 100 120

Distance (m)

Intensity

0o

10o

20o

30o

40o

50o

60o

70o

80o

85o

90o
 35

Summary for Intensity data: The objective of these experiments was to find a material which 

would yield consistently high intensity values for the entire range of the scanner. A clear effect 

is seen on intensity as a function of reflectance ñ targets with high reflectance yield higher 

intensities. However, the intensities degrade with increasing distance. On the other hand, the 

LDP targets at 0o and 45o show less degradation than the other targets and yield consistently high 

intensities for all distances ñ making these targets easily distinguishable from other targets. 

These results are encouraging and indicate that the LDP material could potentially be used to 

fabricate bar codes or tags that can be read by a LADAR. 

3.3 Angle of Incidence 

3.3.1 Data Set 6

For each rotation angle (angle of incidence) and for each target color, the measured distances 

were plotted against the actual distance (10 m to 100 m). For each of these plots, least squares 

regression lines were fitted through the points. The standard deviations of the residuals 

(averaged case) from the fitted line are given in Table 3.4 and plotted in Fig. 3.13. In Fig. 3.13, 

the maximum scale of the Y-axis was set to 1 m, and the residual standard deviations for the 

silver target at 80o and 85o rotation are greater than 1 m and are therefore not shown. 

Missed target and signal reflected 

off white wall behind target

Figure 3.12c. Data Set 6: Black Target Intensity as a Function of Distance and Angle of 

Incidence.

Black

0

50

100

150

200

250

0 20 40 60 80 100 120

Distance (m)

Intensity

0o

10o

20o

30o

40o

50o

60o

70o

80o

85o

90o
 36

Table 3.4. Residual Standard Deviation from Linear Regression. 

Rotation Angle Residual Standard Deviation (m) 

(o) White Black Silver 

0 0.0348700 0.0268980 0.0206252 

10 0.0221700 0.0290150 0.0238604 

20 0.0227700 0.0362710 0.0667554 

30 0.0220900 0.0404220 0.3260688 

40 0.0230400 0.0765750 0.1136327 

50 0.0422800 0.0598770 0.4613150 

60 0.0642100 0.0592890 0.5549653 

70 0.0548600 0.0769410 0.6897836 

80 0.0480000 0.0793640 2.5933830 

85 0.0632800 0.0853410 5.0056010 

90 0.0769480 0.1027240 0.0945438 

From Table 3.4 and Fig. 3.13, it is seen that for the white target, the residual standard deviation 

exceeded the nominal instrument accuracy for angles of incidence greater than 40o. Slightly 

degraded performance is noted for the black and silver targets. For incidence angles greater than 

10o, the residual standard deviations for the silver and black targets are greater than the stated 

accuracy of the instrument (± 2 cm). However, the residual standard deviations for the silver 

Figure 3.13. Data Set 6: Residual Standard Deviation. 

0.0

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

1.0

0 20 40 60 80 100

Rotation Angle (o)

Res. Std. Dev (m)

White

Black

Silver

Values for silver, 80 and 85 

degrees, are off chart and 

not shown.

Values for silver, 80o and 85o, 

are off chart and not shown. 
 37

target are significantly greater than those for the black target for angles of incidence between 30o 

and 85o (see discussion later in this section). 

As seen in Table 3.5, it appears that the number of misses depends on the color of the target with 

the black target (least reflective) sustaining the most misses followed by the silver and then the 

white. A ìmissî is defined as a laser measurement equal to 109 m; 109 m is the distance from 

the LADAR to the wall behind target. In the case of the black target, the strength of the return 

signal was insufficient or below a threshold value required to trigger the detector whereas the 

strength of the return signal off the wall behind the target was sufficient, i.e., the black target 

absorbed more energy that the white wall. For the black target, partial misses (less than 10 

repetitions) began occurring at angle of incidence of 50o to 60o for a distance of 80 m. Total 

misses (10 repetitions) began occurring at angles of incidence greater than 70o for distances of 

70 m and 80 m and 50o for distances of 90 m and 100 m. 
 38

Table 3.5. Number of Target Misses. 

Distance Angle of Incidence (o) 

(m) 0 10 20 30 40 50 60 70 80 85 90 

Black 

10 0 0 0 0 0 0 0 0 0 0 0 

20 0 0 0 0 0 0 0 0 0 0 0 

30 0 0 0 0 0 0 0 0 0 0 0 

40 0 0 0 0 0 0 0 0 0 0 0 

50 0 0 0 0 0 0 0 0 0 1 10 

60 0 0 0 0 0 0 0 0 10 1 0 

70 0 0 0 0 0 0 0 10 10 10 10 

80 0 0 0 0 0 5 9 10 10 10 10 

90 0 0 0 0 0 10 10 10 10 10 10 

100 0 0 0 0 1 10 10 10 10 10 10 

Silver 

10 0 0 0 0 0 0 0 0 0 0 0 

20 0 0 0 0 0 0 0 0 0 0 0 

30 0 0 0 0 0 0 0 0 0 0 0 

40 0 0 0 0 0 0 0 0 0 0 0 

50 0 0 0 0 0 0 0 0 0 0 8 

60 0 0 0 0 0 0 0 0 0 0 0 

70 0 0 0 0 0 0 0 0 0 0 0 

80 0 0 0 0 0 0 0 2 0 0 0 

90 0 0 0 0 0 0 0 6 0 0 0 

100 0 0 0 0 0 0 9 10 10 10 0 

White 

10 0 0 0 0 0 0 0 0 0 0 0 

20 0 0 0 0 0 0 0 0 0 0 0 

30 0 0 0 0 0 0 0 0 0 0 0 

40 0 0 0 0 0 0 0 0 0 0 0 

50 0 0 0 0 0 0 0 0 0 0 0 

60 0 0 0 0 0 0 0 0 0 0 0 

70 0 0 0 0 0 0 0 0 0 0 0 

80 0 0 0 0 0 0 0 0 0 0 0 

90 0 0 0 0 0 0 0 0 0 0 0 

100 0 0 0 0 0 0 0 0 0 0 2 

The errors as a function of distance and angle of incidence for each of the three targets are shown 

in Figs. 3.14a to 3.14c and Figs. 3.15a and 3.15b. The scales for the plots in Fig. 3.14 were set to 

be equal for ease of comparison. The data in Fig. 3.14 are re-plotted in Fig. 3.15 with enlarged 

scales for the black and white targets. From the plots, it can be seen that, in general, the 

accuracy decreases as the angle of incidence increases and more specifically, it can be seen that: 

1. The silver target yields the largest measurement errors and displays a clear angle of 

incidence effect on bias that is monotonically decreasing in angle from 80o down to 30o. 

It is especially evident, both in terms of magnitude of the bias and clean stratification of 

biases between angles, for angles of incidences of 50o and higher. 

There might be two possible explanations for the large errors for the silver target. In both 

of these hypothesized cases, the return signal is affected by external objects such as walls 

All Misses 

Partial Misses 
 39

around the target. In the first case, the errors may result from splitting of the signal 

whereby a portion of the signal hits the target with the remaining signal hitting the wall 

behind the target (see Section 2.6). The size of the target was selected so that the target 

was larger than the laser beam at the maximum range of the scanner (150 m). However, 

as the target is turned, the target area, as seen by the scanner, is reduced and may result in 

a split signal. The split signal phenomenon does not, however, appear to be contributing 

to the error in this situation as the errors are only observed for the silver target and not for 

the white or black targets. This hypothesis is therefore rejected. In the second case, it is 

assumed that a portion of the signal reflected off the specular target hits an object or wall 

to the side of the target and is returned to the scanner. In this case, the distance to this 

object or wall is included in the reported distance measurement ñ biased high or longer 

reported distances. This is appears to be the case for the silver target as seen in Fig. 

3.14a. 

2. The magnitude of the errors for angles of incidence of ≤ 30o is similar for all targets but 

the errors for the silver target (highest reflectance) are greater thereafter. 

3. For an angle of incidence of 90o, the target as seen by the LADAR is a strip 

approximately 1 mm wide. The distance from the target should ostensibly be shorter by 

half the width of the target (0.4 m wide), i.e., the measured distance should be compared 

to the true distance minus 0.2 m. This accounts for the consistently negative biases of the 

90o measurements for all three targets. 

The averages of the errors (10 m to 90 m) for an angle of incidence of 90o are ñ0.312 m ± 

0.079 mÜ

 for silver, -0.257 m ± 0.070 m for white, and ñ0.232 m ± 0.053 m for black. 

Even after half the width of the target is taken into account, the errors are still large, but it 

is interesting that the instrument can differentiate an object approximately 1 mm wide 

even at 100 m. 

4. For the white target, at distances greater than 60 m, the errors appear to be increasing (in 

the negative direction) almost exponentially (Fig. 3.15a) for the higher angle of 

incidences. 

5. For the black target, there are minor angle of incidence effects. There is some 

stratification at angles of incidence of 50o and greater (Fig. 3.15b). 

A portion of the error at the higher angles of incidence for all targets may be attributed to the 

inherent procedure used to determine the range. The LADAR used in these experiments is a 

time-of-flight instrument. That is, the range is determined by measuring the return time, t, of a 

signal and is approximately equal to (cï t/2) where c = speed of light and (t/2) instead of t as t is 

the total return time. For the LADAR used in these experiments, an ìaveragingî of the signal 

return times occurs when no spike or distinct peak in the return signal is detected. For the case 

when the target is turned away from the scanner, the scanner detects several signal returns 

(returns from closest point to the farthest point on the angled target) or return times and an 

average time is recorded. This type of error is instrument specific and cannot be quantified 

 

Ü

 Values following ì±îrepresent one standard deviation. 
 40

unless more information is known about the method used to average the signal return times and 

further experiments are conducted. The required instrument information is usually not available 

from the manufacturer for proprietary reasons. 

Figure 3.14a. Data Set 6: Silver Target ñ Error vs. Distance and Angle of Incidence.

Note: Errors greater than 5 m not shown. 

Silver

-1.0

0.0

1.0

2.0

3.0

4.0

5.0

0 20 40 60 80 100 120

Distance (m)

Error (m)

0o

10o

20o

30o

40o

50o

60o

70o

80o

85o

90o

Figure 3.14b. Data Set 6: White Target ñ Error vs. Distance and Angle of Incidence. 

White

-1.0

0.0

1.0

2.0

3.0

4.0

5.0

0 20 40 60 80 100 120

Distance (m)

Error (m)

0o

10o

20o

30o

40o

50o

60o

70o

80o

85o

90o
 41

Figure 3.15a. Data Set 6: White Target ñ Error vs. Distance and Angle of Incidence.

(Enlarged scale for Fig. 3.14b) 

White

-0.5

-0.4

-0.4

-0.3

-0.3

-0.2

-0.2

-0.1

-0.1

0.0

0.1

0.1

0 20 40 60 80 100 120

Distance (m)

Error (m)

0o

10o

20o

30o

40o

50o

60o

70o

80o

85o

90o

Figure 3.14c. Data Set 6: Black Target ñ Error vs. Distance and Angle of Incidence.

Black

-1.0

0.0

1.0

2.0

3.0

4.0

5.0

0 20 40 60 80 100 120

Distance (m)

Error (m)

0o

10o

20o

30o

40o

50o

60o

70o

80o

85o

90o
 42

The standard deviations of the errors for Data Set 6 are shown in Figs. 3.16a to 3.16c. It is clear 

from these plots that the silver target is the noisiest followed by the black target with the white 

target being the least noisy. Both the silver and black target show a pronounced effect in terms 

of noise as a function of angle of incidence and distance although the stratification in terms of 

angle of incidence is not perfectly clean nor is there any immediately obvious monotonicity in 

terms of magnitude of angle. For distances of 20 m and greater, the noise seems to increase 

almost exponentially for high angles of incidence for the silver. 

Figure 3.15b. Data Set 6: Black Target ñ Error vs. Distance and Angle of Incidence.

(Enlarged scale for Fig. 3.14c) 

Black

-0.4

-0.3

-0.2

-0.1

0.0

0.1

0.2

0.3

0 20 40 60 80 100 120

Distance (m)

Error (m)

0o

10o

20o

30o

40o

50o

60o

70o

80o

85o

90o
 43

Figure 3.16a. Data Set 6: Standard Deviation of Error for Silver Target. 

Silver

0.00

0.05

0.10

0.15

0.20

0.25

0.30

0 20 40 60 80 100 120

Distance (m)

Standard Deviation (m)

0o

10o

20o

30o

40o

50o

60o

70o

80o

85o

90o

Figure 3.16b. Data Set 6: Standard Deviation of Error for White Target. 

White

0.00

0.05

0.10

0.15

0.20

0.25

0.30

0 20 40 60 80 100 120

Distance (m)

Standard Deviation (m)

0o

10o

20o

30o

40o

50o

60o

70o

80o

85o

90o
 44

Figures 3.17 and 3.18 combine the data from Figs. 3.15 and 3.16 and show the data for each 

color separately. In these figures, the values in the legend represent the angular rotation of the 

target in degrees. 

Note that no data is available for the 

higher angle of incidences and distances 

due to misses of the target. 

Black

0.00

0.05

0.10

0.15

0.20

0.25

0.30

0 20 40 60 80 100 120

Distance (m)

Standard Deviation (m)

0o

10o

20o

30o

40o

50o

60o

70o

80o

85o

90o

Figure 3.16c. Data Set 6: Standard Deviation of Error for Black Target. 
 45

 a. Silver b. White 

c. Black 

Figure 3.17. Data Set 6: Error vs. Distance and Angle of Incidence. Values in legend 

represent target rotation in degrees. (Error bars = 1σ). 

-0.5

0

0.5

1

1.5

0 20 40 60 80 100 120

0

10

20

30

40

50

60

70

80

85

90

Error (m)

Distance (m)

White

-0.5

0

0.5

1

1.5

0 20 40 60 80 100 120

0

10

20

30

40

50

60

70

80

85

90

Error (m)

Distance (m)

Silver

-0.5

0

0.5

1

1.5

0 20 40 60 80 100 120

0

10

20

30

40

50

60

70

80

85

Error (m)

90

Distance (m)

Black

Note that no data is available

for the higher angle of

incidences and distances due to

misses of the target. 
 46

 a. Black b. White 

 

Figure 3.18. Data Set 6: Error vs. Distance and Angle of Incidence: Enlarged scale as 

compared with Figs. 3.17b and c. Values in legend represent target rotation in degrees. 

(Error bars = 1σ). 

3.3.2 Data Sets 5 and 6

The data for the LDP target (Data Set 5) for three angles of incidence (0o, 45o, 60o) are shown in 

Fig. 3.19a. Other than the observation made in Section 3.1 that high reflectance of the LDP 

target at 0o causes significant error for distances less than 40 m, no clear effect in terms of 

accuracy or precision as a function of angle of incidence, can be observed for the LDP target. 

The LDP target at 45o exhibits somewhat degraded accuracy for the mid-distances, 80 m to 

110 m. 

Also, shown in Fig. 3.19b for comparison purposes are the data for the silver target (Data Set 6). 

The silver target, which is less reflective than the LDP target, exhibits greater error than the LDP 

target for higher angles of incidences. This appears to contradict the observation made earlier 

that errors for more reflective targets arise from the presence of objects around the target. A 

possible explanation for this apparent contradiction may be because the LDP material consists of 

many small individual highly reflective prisms (Fig. 2.2 b). The material is manufactured in this 

manner (maximum visibility) so that light is reflected back to an observer even if the target is 

rotated away from the observer. 

-0.5

-0.4

-0.3

-0.2

-0.1

0

0.1

0.2

0 20 40 60 80 100 120

0

10

20

30

40

50

60

70

80

85

90

Error (m)

Distance (m)

White

-0.4

-0.3

-0.2

-0.1

0

0.1

0.2

0.3

0 20 40 60 80 100 120

0

10

20

30

40

50

60

70

80

85

Error (m)

90

Distance (m)

Black
 47

 a. LDP Target b. Silver Target 

Figure 3.19. Error vs. Distance and Angle of Incidence for LDP Targets (Data Set 5) and Silver 

Target (Data Set 6). Values in legend represent target rotation in degrees. (Error bars = 1σ). 

Summary of findings for angle of incidence: As expected, the accuracy and precision decrease 

as the angle of incidence increases, with the silver target (most reflective) yielding the greatest 

errors and being the least precise. There is no clear pattern for the effect of reflectance on 

precision. However, reflectance is seen to have an effect on the number of misses of a target 

with a lower reflectance target sustaining more misses at higher angles of incidence and at larger 

distances. 

3.4 Beam Divergence 

A useful byproduct of the angle of incidence experiment (Data Set 6) is the data of the laser 

beam size as a function of distance from the target. This information can be used to determine 

the beam spread functioná

 and the divergence of the laser beam. A laser producing a smaller 

output beam diameter with minimum divergence will yield more accurate distance measurements 

as the reported distance is averaged over the illuminated area. 

The laser in the scanner is comprised of three laser diodes. The beam size as it exits the LADAR 

is 42 mm (high) x 25 mm (wide) as stated by the manufacturer. The results of the experiment 

show that the projections of the laser are one bright rectangular region for distances less than 

 

á

 The beam spread function is necessary for the deconvolution of the LADAR intensity image which allows for the 

identification of the image or ìreadingî of the bar codes. This topic is the subject of another NIST internal report 

(in preparation). 

0

0.5

1

1.5

0 20 40 60 80 100 120 140 160

0

45

60

Error (m)

Distance (m)

0

0.5

1

1.5

0 20 40 60 80 100 120 140 160

0

40

60

Error (m)

Distance (m)
 48

10 m. For distances greater than 10 m, three bright vertical bands with dark regions in between 

are visible. 

The visual procedure to determine beam sizes is as follows (recall that the outlines of the laser 

beam were made by at least two observers using different color markers): 

1. Make two copies of original outlines (or as many copies as there are observers). 

2. Draw first line to best fit Observerís 1 markings ñ Line 1 (Fig. 3.20). Note: Line 1 

was arbitrarily chosen ñ Lines 2, 3, or 4 could easily have been chosen as the first line 

to be drawn. 

3. Draw a second line 90o to Line 1 that best fit markings ñ Line 2. 

4. Draw a third line 90o to Line 2 that best fit markings ñ Line 3. 

5. Draw a fourth line 90o to Line 3 that best fit markings ñ Line 4. 

6. Draw lines 5-8 perpendicular to Line 2 or Line 4. 

7. Measure lengths of lines. 

8. Repeat Steps 2 to 7 for Observer 2ís outlines. 

(a) Observer 1 (Drawing has been reduced and is not shown to scale). 

Figure 3.20. Outline of Laser Beam at 70 m. 

Line 1 

Line 2 

Line 3 

Line 4 

Lines

5 & 6

Lines

7 & 8
 49

(b) Observer 2 (Drawing has been reduced and is not shown to scale). 

Continue Figure 3.20. Outline of Laser Beam at 70 m. 

The beam dimensions as obtained from the procedure described above are given in Table 3.6. 

Table 3.6. Data Set 6: Laser Beam Size. 

Distance 

(m) 

L†

(mm) 

W†

(mm) 

a† 

(mm) 

b†

(mm) 

c

†

(mm) 

d†

(mm) 

e

†

(mm) 

2ß 17 41 naÜÜ na na na na 

2ß 15 45.5 na na na na na 

2ß 15 47 na na na na na 

2ß 17 40 na na na na na 

2ß 14 41 na na na na na 

5á 19 42 na na na na na 

5ß 25 46 na na na na na 

5ß 18 36 na na na na na 

5ß 19 41 na na na na na 

10á 31.5 49 15 2 10.5 1.5 20 

10 27 51 na na na na na 

10 28 48 na na na na na 

10 22 46 na na na na na 

10 29 58 na na na na na 

10 24 53 na na na na na 

10 31 62 na na na na na 

20á 60 68 19.5 8 16 10 14 

20 53.5 68 9.5 16.5 14 14 14 

20 55 56 9 15 14 11 8 

30 86 79 7 21.5 11 29 10 

30 79 87 9.5 24.5 15 34.5 3.5 

30á 74.5 86 16 18 16.5 23.5 12 

39.5á 117.5 116 11.5 37.5 14.5 37 15.5 
 50

Distance 

(m) 

L†

(mm) 

W†

(mm) 

a† 

(mm) 

b†

(mm) 

c

†

(mm) 

d†

(mm) 

e

†

(mm) 

39.5á 96 111.5 14 35.5 13 29 20 

40 115 117 17 26 20.5 31 22 

40 101 105 13 24 24 30 14 

50 136 159 39 32.5 14 54 19 

50 127 146.5 12.5 47 22 43.5 22 

60 158 166.5 21 48 23 57 17 

60 161 166 24.5 53 18 47 22.5 

70 180 194 20 68 25.5 62.5 18 

70 166 187 16 71 18 66 16 

80 176 183 14 78 18 59 14.5 

80 166 207 20.5 53.5 27 84 22.5 

80 172 213 19.5 97 17 57.5 22.5 

90 186 260 26 115.5 25 72 21 

90ß 254 248 22.5 73 54 61 38 

90ß 230 230 26.5 65 44.5 64.5 29.5 

100 182.5 274 25 101 34 84 30 

100ß 234 266 17 120 14.5 101 12.5 

100ß 246.5 263.5 15 99.5 14 122 14 

100ß 284 288.5 21 107.5 24.5 110.5 25 

Notes: 

Ü

 Description of Variables 

á

 A few initial tests were made on October 11, 2001 to determine if the projection of the laser beam 

could indeed be seen and ìmeasuredî using an IR viewer. 

ß

 Additional runs were made on Feb. 26 and 27, 2002 to determine the beam size at distances where 

there were no data or where there was only one data point available. 

ÜÜ na = not applicable 

The lengths and widths of the beam projection are plotted as a function of the distance in Fig. 

3.21. Despite the highly subjective manner in which the beam dimensions were obtained, a clear 

trend for the beam length and width appears visible in Fig. 3.21. Quadratic model least squares 

regression parameters for the width and length of the beam are: 

L

W

a b c d e
 51

 and beam width,length are in millimeters

 is the distance in meters

where

 for 5 x 100

 0 0025 2 528 6 9588 0 9606

 0 0071 1 6637 34 815 0 9874

2 2

2 2

x

length x x R

width x x R

≤ ≤

= − + + =

= + + =

. . . .

. . . .

Based on the measured beam dimensions, divergences of the beam in the width (horizontal) and 

length (vertical) directions were calculated. Since there were no measurements of the beam size 

as it exits the instrument, the beam size at 2 m was taken as the reference or initial beam size for 

calculating the divergence. The divergence was calculated using the formulas (tan γ ≈ γ for γ << 

1): 

Figure 3.21. Data Set 6: Regression Fits for Laser Beam Length and Width.
 52

( ) ( )

( ) ( )

 Distance in meters

 Average width, in millimeters, of beam at distance

 Average length, in millimeters, of beam at distance

 divergence at distance in milliradians

where

1000

2 1000

43 1000

2 1000

2

1000

2 1000

15 55 1000

2 1000

2

=

=

=

=







 







−

− = 





 







−

− =







 







−

− = 





 







−

− =

( )

( )

( )

( ), ( )

* ( ) )*

( ) * ( ) ( ) *( ) ( ) ( )

* ( ) *

( ) . * ( ) ( ) *( ) ( ) ( )

D x

W x x

L x x

x x x

D x

W x

D x D

W x W

x

D x

L x

D x D

L x L

x

vertical horizontal

horizontal

vertical

γ γ

γ

γ

The beam divergences as a function of distance are shown in Fig. 3.22. 

The average vertical beam divergence is 2.14 mrad (σ = 0.39 mrad) and the average horizontal 

beam divergence, excluding the outlier (negative divergence) is 1.86 mrad (σ = 0.44 mrad). The 

average beam divergence, average of horizontal and vertical divergences, is 2.01 mrad (σ = 

0.43 mrad) ñ compared with the manufacturerís specified divergence of 3 mrad. The lower 

experimental value could be a result of the inability of the unaided human eye to detect the faint 

edges of the laser beam projection. 

Figure 3.22. Beam Divergence. 
 53

Plots of the bandwidths of the bright and dark bands are shown in Figs. 3.23 and 3.24. In Fig. 

3.23, the bandwidths for the each individual band are plotted and trends are clearly visible for 

both the bright and dark bands. Linear regression parameters for individual bandwidths are 

given in Table 3.7. 

Table 3.7. Coefficients for Linear Regression for Individual Bandwidths. 

Description Bandwidth† 

(mm) 

Slope (M)†

 Intercept (B)† R2 ‡ 

Bright Bands 

 Left aß 0.1123 11.198 0.2283 

 Middle cß 0.1842 9.8815 0.2938 

 Right eß 0.1315 10.643 0.2864 

Dark Bands 

 Left bß 1.1426 -13.251 0.8954 

 Right dß 0.9815 -6.0425 0.8702 

Notes: 

Ü

 Bandwidth = Mx + B where x = distance in meters; 5 < x < 100 

á

 Correlation coefficient squared 

ß

 Corresponds to bands shown in Notes section of Table 3.6. 

Figure 3.23. Individual Band Widths vs Distance. 
 54

Fig. 3.24 is a plot of the same data as shown in Fig. 3.23. With the data for the three bright 

bands combined and plotted as ëbright bandí and the data for the two dark bands combined and 

plotted as ëdark bandí. The regression parameters for the bright and dark bandwidth fits are: 

 bandwidth in millimeters

 x distance in meters; 10 100

where

 Bright bandwidth 0 143 10 574 0 2578

 Dark bandwidth 1 062 9 6468 0 8784

2

2

= < <

= + =

= − =

x

x R

x R

. . .

. . .

Judging by the coefficients of determination for the two fits, the bright band shows a poorer fit 

than the dark band. 

3.5 Correlation 

The data obtained directly by the instrument are in the form of azimuth angle (θ), elevation angle 

(φ), distance (R). However, the only measured value is R with the azimuth and elevation angles 

being obtained from line encoders. Therefore, when polar coordinates are converted to Cartesian 

Figure 3.24. Combined Bright and Dark Band Widths vs. Distance. 
 55

coordinates by the instrument, nominal values (encoder values) of the azimuth and elevation 

angles are used. Thus, it is not possible to meaningfully evaluate cross-correlations [corr (R, θ),

corr (R, φ)] and only the spatial correlation, corr (R, R), can be investigated (Section 3.5.2). 

3.5.1 Temporal Autocorrelation ñ Data Set 8

Assuming the 100 pseudo-replicatedß points taken at one location on the target represent a norm 

for replication through time for a measurement of the same (geographic) location under fixed 

operating conditions, it is possible to assess the (temporal) autocorrelation of the instrument by 

lagging each locationís block of 100 points with respect to itself and computing the resulting 

autocorrelation function (ACF). 

( )( )

( )



=

−

=

+

−

− −

= N

t

t

N k

t

t t k

k

x x

x x x x

r

1

2

1

Doing this repeatedly across multiple blocks yields plots of the form in Fig. 3.26. In Fig. 3.26, in 

each frame, the X-axis represents LAG between the two versions of the same time sequence 

(LAG units coincide with the basic time sampling units) and the Y-axis represents the computed 

autocorrelation at the lag, i.e., rk. The two sets of horizontal lines in each plot represents 

estimated 95 % (2 σ) and 99 % (3 σ) confidence bands for the autocorrelations. Plot plots 

outside the ranges of the indicated bounds would represent statistically significant nonzero 

autocorrelation(s) at 5 % and 1 % significance, respectively. 

 

ß

 True replication would involve zeroing out, re-setting, and re-measuring after a substantial time interval. 
 56

0 5 10 15 20 25

-1

-0.5

0

0.5

1

LAG

AUTOCORRELATION

Figure 3.26. Autocorrelation Plots. 

The plots in Fig. 3.26 display no significant autocorrelation at nontrivial (≠ 1) lags. Significant 

low-order autocorrelation (lags 2, 3, 4) would be indicative of a stickiness in the replicated 

points: a tendency for their deviations about their mean to repeat/duplicate themselves at points 

close in time. Significant high-order autocorrelative structure would be indicative of a quasiperiodicity in the time sequence: a tendency for the sequence to duplicate, or to almost 

duplicate, itself at some fixed lag. 

Autocorrelation causes a bias in the low, or optimistic, direction in variance estimates based on 

the replicated data. In fact, it is intuitive that the estimates will be biased low because of the 

tendency of autocorrelated points to self-adhere. Put in simplest terms, autocorrelation induces 

error in variance (and associated standard deviation) estimates. While the problem is correctable 

if suspected and detected**, it is obviously preferable that the problem not occur at all. That this 

is the case here is reassuring. 

 

** An unbiased estimate of the variance can be obtained as the ordinate at zero frequency of the power spectrum 
 57

3.5.2 Spatial Autocorrelation ñ Data Set 7

Data Set 7 is organized as 10 replicates per location at 25 vertically arranged locations along a 

vertical strip for 3 strips. The presence of the sequence of 10 repetitions at multiple 

contiguous/adjacent locations enables us to estimate spatial autocorrelation between adjacent, or 

closely spaced locations along the strip. The key variable in this experiment is the vertical 

distance between the points. The specified incremental angles between points are 0.045o, 0.090o, 

and 0.180o which translates to distances of 7.9 mm, 15.7 mm, and 31.4 mm for a target located 

10 m from the scanner. 

The correlations (lag = 1) for strips 1, 2 and 3 and vertical incremental angles of 0.045o, 0.090o, 

and 0.180o are given in Tables 3.8, 3.9, and 3.10, respectively. 

Table 3.8. Data Set 7: Spatial Correlation For 0.045o Incremental Angle. 

Strip 1 Strip 2 Strip 3 

R-R Std. Error†† R-R Std. Error†† R-R Std. Error†† 

-0.55204 0.25297 0.74432 0.19857 -0.04289 0.34049 

0.07578 0.38314 -0.17656 0.36967 -0.03537 0.42698 

0.05171 0.39157 0.13766 0.43325 0.19172 0.21671 

0.27004 0.40448 -0.28101 0.42454 -0.44123 0.26475 

-0.58448 0.1824 -0.57393 0.34741 -0.4847 0.29094 

-0.37383 0.23536 0.35231 0.20785 -0.45583 0.23539 

0.62769 0.20726 0.52773 0.15336 -0.19037 0.33801 

0.50778 0.29949 -0.14254 0.34996 -0.01197 0.30406 

-0.26985 0.40095 -0.46646 0.32139 0.01148 0.38466 

-0.13945 0.2607 -0.16489 0.35893 -0.42333 0.31418 

0.87244 0.09083 -0.77195 0.17778 0.43474 0.2817 

0.08739 0.32706 0.26443 0.35237 0.36859 0.26577 

-0.57979 0.21134 -0.14849 0.33198 -0.2936 0.28408 

0.91375 0.02805 0.78714 0.20364 -0.32593 0.27716 

0.09417 0.30343 1.00000 0.00006 0.53441 0.19458 

0.82015 0.13774 1.00000 0.00004 0.1823 0.46205 

-0.19088 0.32665 -0.31894 0.26856 -0.45655 0.23226 

-0.38197 0.20382 0.39947 0.21379 -0.54255 0.25972 

0.11923 0.34496 0.24458 0.36047 0.39676 0.29478 

-0.35167 0.27788 -0.5899 0.30531 -0.10517 0.26977 

-0.43707 0.23681 -0.43439 0.35767 -0.06267 0.30774 

0.82979 0.11297 0.04884 0.28561 -0.09866 0.32113 

-0.26641 0.37783 -0.12623 0.27751 -0.28201 0.23208 

-0.33663 0.32035 0.35376 0.27308 -0.0389 0.4825 

Notes: Shaded cells are instances of significant correlation. 

 

ÜÜ Standard errors for the correlations were estimated by bootstrapping [Efron and Tibshirani, 1993] . 
 58

Table 3.9. Data Set 7: Spatial Correlation for 0.090o Incremental Angle. 

Strip 1 Strip 2 Strip 3 

R-R Std. Error R-R Std. Error R-R Std. Error 

0.04023 0.31993 -0.37415 0.20074 -0.3325 0.33687 

-0.05737 0.38259 0.04083 0.32854 0.27579 0.41989 

-0.44075 0.28008 -0.40951 0.31755 0.6197 0.18361 

-0.00014 0.32705 0.06147 0.36001 0.15189 0.29353 

0.77054 0.10097 0.04636 0.44261 0.50289 0.31596 

-0.22626 0.25344 -0.37949 0.30592 0.66239 0.21289 

-0.43177 0.27858 -0.11252 0.33779 -0.14162 0.29372 

0.32753 0.30081 0.10783 0.39081 0.60301 0.28728 

0.62817 0.15617 0.44215 0.17788 0.58331 0.31369 

0.45546 0.33414 -0.14143 0.35644 0.38173 0.2345 

0.09507 0.36422 -0.58178 0.19458 0.48458 0.39203 

-0.01288 0.42003 0.1496 0.33689 -0.15646 0.28488 

-0.23579 0.3064 -0.09338 0.37834 -0.22841 0.26505 

-0.57032 0.22791 0.01072 0.3388 -0.73704 0.46548 

-0.28361 0.37853 -0.2714 0.31101 -0.31044 0.26085 

-0.07629 0.36469 -0.07577 0.31151 0.35164 0.26769 

-0.01351 0.23284 0.0863 0.3234 0.33585 0.27064 

0.2583 0.34492 0.62126 0.23531 0.59442 0.15488 

-0.56313 0.25592 -0.28707 0.40308 -0.25577 0.27133 

0.42167 0.35682 -0.37826 0.20698 -0.06747 0.29893 

-0.75035 0.14136 -0.75785 0.1334 0.21958 0.32173 

-0.16274 0.23618 -0.34097 0.34117 -0.36802 0.33458 

0.06879 0.24266 -0.09119 0.34036 0.13394 0.38527 

0.04338 0.29401 0.62354 0.29509 -0.00936 0.44477 

Notes: Shaded cells are instances of significant correlation. 

Table 3.10. Data Set 7: Spatial Correlation for 0.180o Incremental Angle. 

Strip 1 Strip 2 Strip 3 

R-R Std. Error R-R Std. Error R-R Std. Error 

-0.02523 0.39223 0.3342 0.34421 0.44386 0.33459 

-0.23081 0.37593 -0.45636 0.35246 0.02245 0.40943 

0.03178 0.36891 0.45053 0.2358 0.00256 0.3951 

0.19884 0.23042 0.26613 0.42503 -0.30439 0.36607 

0.04748 0.36262 0.42192 0.26559 -0.18638 0.34745 

-0.29251 0.261 0.33306 0.27872 -0.1293 0.32023 

-0.74941 0.27052 -0.36537 0.2864 -0.11169 0.35782 

0.18529 0.40528 -0.33562 0.29819 0.67417 0.14484 
 59

Strip 1 Strip 2 Strip 3 

R-R Std. Error R-R Std. Error R-R Std. Error 

0.42923 0.4175 0.14002 0.42949 -0.34621 0.30111 

-0.58264 0.14779 0.32185 0.40692 -0.17787 0.36141 

0.21543 0.33636 0.16281 0.35796 0.47939 0.24581 

-0.55006 0.35867 -0.19229 0.38524 0.47337 0.2233 

-0.10123 0.31639 -0.5181 0.23856 0.44582 0.36826 

-0.01678 0.33585 0.17932 0.35488 -0.40009 0.35683 

-0.60713 0.20003 -0.0475 0.39304 0.54936 0.26534 

0.01777 0.38883 0.32296 0.31779 0.02965 0.32261 

0.24499 0.29048 0.03808 0.2709 -0.31793 0.25856 

-0.10405 0.2983 -0.18809 0.26094 0.2797 0.31558 

-0.1687 0.47751 0.37456 0.18533 0.02767 0.29249 

-0.57767 0.31923 0.03594 0.31149 -0.53119 0.2245 

-0.2125 0.35412 -0.02728 0.38385 0.50402 0.28571 

-0.15705 0.30546 -0.49235 0.25695 -0.20329 0.3737 

0.39246 0.41459 0.8526 0.07813 -0.08847 0.27742 

-0.40737 0.46504 0.12131 0.41772 0.21695 0.23713 

Notes: Shaded cells are instances of significant correlation. 

Examination of the correlation values and associated standard errorsáá shows that there is 

sporadic, seemingly, random statistically significant correlation between contiguous 

measurements in a vertical strip. The number of incidences of significant spatial correlation 

(shaded cells in Tables 3.8 to 3.10) increases as the incremental angle decreases, i.e., the vertical 

distance between points decreases. Since the findings in this experiment are inconclusive, the 

existence of spatial autocorrelation will require further investigation. If spatial autocorrelation is 

present, simple propagation of error methods, that is, propagation of error that does not take 2nd

order, cross-correlation terms into account, may not yield reliable results. 

 

áá Double the standard errors and check to see if the interval correlation ± (2 σ) crosses zero. If it does, the 

correlation is statistically indistinguishable from zero at 95 % confidence. 
 60

4.0 CONCLUSIONS AND RESEARCH NEEDS 

4.1 Summary and Conclusions 

The potential applications of LADARs are numerous and they cross over several sectors of 

industry ñ construction, large-scale manufacturing, remote sensing, national defense (military). 

As the use of LADARs increases, there is a growing need to characterize the LADARs and to 

develop statistically justifiable uncertainties for the LADAR data and their end products. There 

have been only a handful of such efforts in this area. 

To evaluate surface generation algorithms objectively, the accuracy/precision characteristics of 

the sensor must first be determined. Therefore, in the first phase of a NIST project, calibration 

experiments, varying distance/size/color/reflectivity of targets were conducted. In the second 

phase, evaluations of surface generation algorithms with respect to meshing, registration, data 

editing (filtering, handling outliers, etc.) were performed and are reported in Witzgall and Cheok 

[2001] and in a second report that is in preparation. In the third phase, all such knowledge has to 

be integrated into a credible calculation of statistical uncertainty for reconstructed scenes and 

derived values such as volume. 

As part of the first phase, a series of exploratory experiments to characterize a laser scanner was 

conducted and these efforts are chronicled in this report. These experiments served three 

purposes: 1) assessment of the accuracy and precision of the range measurements, 2) learning 

process for the use of and familiarization with a LADAR, and 3) to address specific needs as 

they arose. The experimental parameters examined included target color, texture, reflectivity, 

angle of incidence, and beam divergence. The effects of target reflectivity and distance on the 

intensity value were examined to assess the possibility of using intensity values to identify 

objects within a scene. 

The initial findings can be summarized as follows: 

1. Accuracy: 

a. For the instrument calibrated, for the two extreme colors (black and white) and for 

angle of incidences equal to 0o, the measurement errors (Data Set 5) generally fell 

within the ± 5 cm bounds (manufacturerís upper bounds). 

b. Reduction of the laser output power (filter on laser) significantly decreased 

accuracy of a less reflective target (black) at the upper range of the LADAR. 

2. Color Effect (Reflectivity): 

a. Comparisons of the global regression line statistics show no dramatic color effect. 

b. Less reflective targets (black, dark gray) are less precise at longer distances than 

more reflective targets (white). 

c. Biases are also observed for some of the colors: a pink target is biased low. Dark 

gray and black targets are biased high. 

d. Reduction of the laser output power (filter on laser) significantly decreased 

precision at the upper range of the LADAR regardless of target color. 
 61

3. Angle of incidence: 

a. As expected, the angle of incidence affects the range accuracy. Highly reflective 

targets (silver, shiny) yield the largest measurement errors for this series of 

experiments and are the least precise ñ for angles of incidence of 50o and greater. 

b. The least reflective target (black) sustains the most misses (no returns) as the 

angle of incidence increases. 

4. LDP material (Highly reflective): 

a. Consistently high (>200) intensities for the entire range of the scanner was 

observed which makes the LDP material a potential candidate for the fabrication 

of bar codes. 

b. Very significant measurement errors are observed for this material for distances 

less than 40 m due to saturation of the detector. 

5. Autocorrelation: 

a. No evidence of significant temporal autocorrelation was observed. 

b. Random significant spatial correlations between contiguous measurements were 

observed and require further investigation. 

These findings are based on a very limited number of experiments and on one type of laser 

scanner. It should be kept in mind that these findings are likely instrument dependent. Further 

experiments are needed to verify fully and expand upon these findings and to refine the 

calibration procedure. 

The initial efforts and findings presented in this report provide a better understanding of what is 

required to calibrate similar sensors in terms of significant parameters affecting range 

measurements, test procedures, and calibration facility requirements. Additional experiments 

with other types of laser scanners would be necessary to develop standard calibration protocols 

appropriate for all or most of the commercially available scanners. 

4.2 Research Needs 

There are currently no facilities or standard test protocols for the calibration or performance 

evaluation of LADARs [Marshall et al. 2001]. As the potential application of LADARs grows, 

there is a need to establish a facility to calibrate and evaluate these types of sensors. It is 

anticipated that such a calibration facility would consist of an indoor and an outdoor facility. 

The indoor facility would allow for calibrations to be conducted in a controlled environment 

(temperature, humidity, pressure) while an outdoor facility would permit the evaluation of the 

scanner performance in a more realistic environment. 

Test protocols and calibrations for the indoor facility would fall under two general categories: 

• hardware calibration 

− distance accuracy and precision 

− pointing accuracy and precision 

− laser beam divergence 
 62

− depth and horizontal resolution ñ what is the minimum distance between objects 

that is detectable by the sensor 

− minimum object size that is detectable by the sensor 

− stability/degradation of sensor over time 

• performance evaluation using artifacts ñ i.e., given several standard artifacts, how 

accurately and precisely can the following characteristics be determined: 

− dimensions 

− position/location 

− area/volume 

− geometry/object identity 

In the second category, performance evaluation involves the assessment of the combination of 

hardware and software to produce a desired end product. LADAR data could be used ìas isî 

(point cloud), but the full potential of such data lies in the use of the data to create 3D models 

from which positions, dimensions, areas, volumes, etc. can be ascertained. This process involves 

software to register multiple scans and to mesh the point cloud, as well as methods to clean/filter 

and to subsample the data. In general, the calibrations obtained from the first category above 

could be used for propagating instrument error through to the end product and to determine how 

to improve the scanner, whereas the calibrations in the second category would be used to 

measure and explicitly note the performance of the scanner. Metrics to evaluate the scanner 

performance are harder to establish than the metrics to evaluate the hardware accuracy and 

precision. 

For each of the subtopics listed for hardware calibrations and performance evaluation, many 

issues have to be resolved. These issues include determining the optical characteristics of the 

standard targets (color, reflectivity, texture, etc.), shape, size, material, and placement of the 

artifacts, and choice of software package. Some hardware specific issues include developing 

methods to ensure that the target is perpendicular to the laser and procedures for dealing with 

instruments that are not setup for single point acquisition. 

The outdoor facility would consist of designated areas that are open, partially wooded, and 

wooded. Permanent benchmarks would be located throughout the designated areas for 

accurately locating the sensor. In addition to allowing for the evaluation of the scanner under 

more realistic conditions, the outdoor facility would also allow for the evaluation of the sensorís 

ability to map terrain in different seasons ñ full foliage (summer), partial foliage (spring and 

fall), and no foliage (winter), and in different environmental conditions ñ sunny, cloudy, dusty, 

hot, cold. Artifacts could also be used in the outdoor facility. 

The successful establishment of a LADAR calibration and the development of test protocols 

would require the participation, cooperation, and acceptance by the LADAR manufacturers and 

end users. This collaborative effort should start at the initial planning phases and continue 

throughout the whole process. The standardization of the test protocols would also require the 

inclusion of standards writing organizations such as American National Standards Institute 

(ANSI) and the American Society of Non-Destructive Testing. 
 63

REFERENCES 

Collier, R. [1998], ìCharacterization of a Range Scanning System Utilizing a Point Laser 

Rangefinder,î MS Thesis, University of Tennessee, Knoxville, August, 74 pp. 

Efron, B. and Tibshirani, R. J. [1993], An Introduction to the Bootstrap, Chapman and Hall, 

New York. 

El-Hakim, S. F., Beraldin, J. A., and Blais, F. [1995], ìA Comparative Evaluation of the 

Performance of Passive and Active 3-D Vision Systems,î Proc. St. Petersburg Conference 

on Digital Photogrammetry, St. Petersburg, Russia, June 25-30, 1995. NRC 39160. 

Kweon, I. S., Hoffman, R. and Krotkov [1991], ìExperimental Characterization of the 

Perceptron Laser Rangefinder,î CMU-RI-TR-91-1, The Robotics Institute, Carnegie 

Mellon University, Pittsburgh, PA, January, 44 pp. 

Marshall, S. J., and Gilby, J. H. [2001], ìNew Opportunities in Non-Contact 3D 

Measurement,î Proc. National Measurement Conf., 2001, Harrogate, UK. 

Marshall, S. J., Whiteford, D. N., and Rixon, R. C. [2001], ìAssessing the Performance of 3D 

Whole Body Imaging Systems,î Proc. 6th NumÈrisation 3D/Scanning 2001 Congress, 

Paris, France. 

 

Sachs, L. (1982), Applied Statistics: A Handbook of Techniques, New York, Springer-Verlag, p. 

442. 

Taylor, J. R. [1997], An Introduction to Error Analysis: The Study of Uncertainties in Physical 

Measurements, 2nd ed., University Science Books, Sausalito, CA. 

Witzgall, C. and Cheok, G. S. [2001], ìRegistering 3D Point Clouds: An Experimental 

Evaluation,î NISTIR 6743, National Institute of Standards and Technology, Gaithersburg, 

MD, May, 41 pp. 
 65

APPENDIX A – Relative Distance 

Table A.1 Data Set 1 - Relative Distance Calibration: 0 m to 60 m

Location: Environmentally controlled lab, Bldg. 220 File: rel_dist_anal.xls 

No Filter 

Test Dates: July 14-15, 1999 

Interfero. Dist. 

(mm) 

tall post 

Wht., not 

shiny 

(m) 

Interfero. 

Dist. (mm) 

short post 

Wht.,not shiny

(m) 

Interfero. Dist. 

(mm) 

tall post 

Wht., shiny 

(m) 

0.00 4.315 0.00 4.468 0.00 4.588 

0.00 4.335 0.00 4.508 0.00 4.608 

0.00 4.395 0.00 4.468 0.00 4.608 

0.00 4.315 0.00 4.488 0.00 4.548 

0.00 4.315 0.00 4.488 0.00 4.608 

0.00 4.235 0.00 4.448 0.00 4.628 

0.00 4.295 0.00 4.448 0.00 4.588 

0.00 4.375 0.00 4.408 0.00 4.608 

0.00 4.415 0.00 4.408 0.00 4.608 

0.00 4.375 0.00 4.488 0.00 4.608 

0.00 4.370 0.00 4.488 0.00 4.568 

0.00 4.430 0.00 4.448 0.00 4.608 

0.00 4.410 0.00 4.488 0.00 4.608 

0.00 4.390 0.00 4.428 0.00 4.628 

0.00 4.450 0.00 4.408 0.00 4.588 

0.00 4.310 0.00 4.488 0.00 4.588 

0.00 4.370 0.00 4.548 0.00 4.628 

0.00 4.410 0.00 4.548 0.00 4.588 

0.00 4.410 0.00 4.408 0.00 4.548 

0.00 4.390 0.00 4.468 0.00 4.628 

0.00 4.370 0.00 4.508 0.00 4.568 

0.00 4.330 0.00 4.468 0.00 4.608 

0.00 4.370 0.00 4.488 0.00 4.608 

0.00 4.390 0.00 4.428 0.00 4.588 

0.00 4.430 0.00 4.428 0.00 4.608 

2047.17 6.312 2001.82 6.510 2000.02 6.630 

2047.17 6.427 2001.82 6.510 2000.02 6.59 

2047.17 6.347 2001.82 6.330 2000.02 6.63 

2047.17 6.407 2001.82 6.490 2000.02 6.59 

2047.17 6.407 2001.82 6.450 2000.02 6.57 

2047.17 6.367 2001.82 6.450 2000.02 6.61 

2047.17 6.367 2001.82 6.390 2000.02 6.63 

2047.17 6.387 2001.82 6.410 2000.02 6.61 

2047.17 6.507 2001.82 6.550 2000.02 6.61 

2047.17 6.387 2001.82 6.430 2000.02 6.55 

2047.17 6.387 2001.82 6.450 2000.02 6.57 

2047.17 6.407 2001.82 6.450 2000.02 6.61 

2047.17 6.503 2001.82 6.410 2000.02 6.59 

2047.17 6.307 2001.82 6.570 2000.02 6.63 

2047.17 6.447 2001.82 6.530 2000.02 6.59 

2047.17 6.427 2001.82 6.470 2000.02 6.63 

2047.17 6.263 2001.82 6.490 2000.02 6.61 

2047.17 6.463 2001.82 6.410 2000.02 6.59 

2047.17 6.423 2001.82 6.550 2000.02 6.65 

2047.17 6.403 2001.82 6.490 2000.02 6.63 

2047.17 6.363 2001.82 6.570 2000.02 6.63 

2047.17 6.363 2001.82 6.470 2000.02 6.63 

2047.17 6.483 2001.82 6.510 2000.02 6.63 

2047.17 6.383 2001.82 6.410 2000.02 6.63 

2047.17 6.423 2001.82 6.550 2000.02 6.63 

2047.17 6.423 4000.22 8.573 4000.21 8.593 

4005.47 8.266 4000.22 8.453 4000.21 8.573 

4005.47 8.226 4000.22 8.453 4000.21 8.593 

4005.47 8.266 4000.22 8.453 4000.21 8.573 

4005.47 8.246 4000.22 8.373 4000.21 8.593 
 66

Table A.1 Data Set 1 - Relative Distance Calibration: 0 m to 60 m

Location: Environmentally controlled lab, Bldg. 220 File: rel_dist_anal.xls 

No Filter 

Test Dates: July 14-15, 1999 

Interfero. Dist. 

(mm) 

tall post 

Wht., not 

shiny 

(m) 

Interfero. 

Dist. (mm) 

short post 

Wht.,not shiny

(m) 

Interfero. Dist. 

(mm) 

tall post 

Wht., shiny 

(m) 

4005.47 8.346 4000.22 8.493 4000.21 8.593 

4005.47 8.326 4000.22 8.453 4000.21 8.633 

4005.47 8.281 4000.22 8.493 4000.21 8.613 

4005.47 8.301 4000.22 8.633 4000.21 8.593 

4005.47 8.341 4000.22 8.593 4000.21 8.653 

4005.47 8.401 4000.22 8.493 4000.21 8.593 

4005.47 8.341 4000.22 8.433 4000.21 8.613 

4005.47 8.301 4000.22 8.493 4000.21 8.613 

4005.47 8.321 4000.22 8.433 4000.21 8.573 

4005.47 8.381 4000.22 8.493 4000.21 8.553 

4005.47 8.261 4000.22 8.453 4000.21 8.593 

4005.47 8.341 4000.22 8.453 4000.21 8.593 

4005.47 8.381 4000.22 8.473 4000.21 8.593 

4005.47 8.341 4000.22 8.493 4000.21 8.593 

4005.47 8.341 4000.22 8.353 4000.21 8.613 

4005.47 8.341 4000.22 8.373 4000.21 8.613 

4005.47 8.221 4000.22 8.573 4000.21 8.533 

4005.47 8.361 4000.22 8.533 4000.21 8.553 

4005.47 8.321 4000.22 8.613 4000.21 8.613 

4005.47 8.321 4000.22 8.493 4000.21 8.653 

4005.47 8.301 6002.26 10.496 6000.07 10.616 

4005.47 8.421 6002.26 10.536 6000.07 10.576 

6005.04 10.304 6002.26 10.636 6000.07 10.616 

6005.04 10.284 6002.26 10.636 6000.07 10.596 

6005.04 10.424 6002.26 10.536 6000.07 10.616 

6005.04 10.224 6002.26 10.676 6000.07 10.616 

6005.04 10.264 6002.26 10.596 6000.07 10.576 

6005.04 10.324 6002.26 10.556 6000.07 10.576 

6005.04 10.304 6002.26 10.616 6000.07 10.616 

6005.04 10.324 6002.26 10.436 6000.07 10.636 

6005.04 10.364 6002.26 10.536 6000.07 10.596 

6005.04 10.304 6002.26 10.476 6000.07 10.576 

6005.04 10.384 6002.26 10.456 6000.07 10.596 

6005.04 10.284 6002.26 10.456 6000.07 10.576 

6005.04 10.279 6002.26 10.476 6000.07 10.616 

6005.04 10.324 6002.26 10.476 6000.07 10.636 

6005.04 10.359 6002.26 10.556 6000.07 10.576 

6005.04 10.379 6002.26 10.476 6000.07 10.616 

6005.04 10.299 6002.26 10.436 6000.07 10.616 

6005.04 10.359 6002.26 10.596 6000.07 10.536 

6005.04 10.359 6002.26 10.536 6000.07 10.616 

6005.04 10.404 6002.26 10.516 6000.07 10.636 

6005.04 10.359 6002.26 10.496 6000.07 10.616 

6005.04 10.399 6002.26 10.576 6000.07 10.616 

6005.04 10.319 6002.26 10.456 6000.07 10.596 

6005.04 10.239 8001.15 12.580 8001.04 12.620 

6005.04 10.319 8001.15 12.459 8001.04 12.6 

8009.23 12.402 8001.15 12.479 8001.04 12.56 

8009.23 12.402 8001.15 12.439 8001.04 12.58 

8009.23 12.382 8001.15 12.500 8001.04 12.58 

8009.23 12.282 8001.15 12.439 8001.04 12.58 

8009.23 12.322 8001.15 12.580 8001.04 12.58 

8009.23 12.362 8001.15 12.620 8001.04 12.58 

8009.23 12.402 8001.15 12.540 8001.04 12.58 

8009.23 12.262 8001.15 12.479 8001.04 12.58 

8009.23 12.302 8001.15 12.559 8001.04 12.6 

8009.23 12.302 8001.15 12.500 8001.04 12.54 

8009.23 12.422 8001.15 12.479 8001.04 12.58 

8009.23 12.282 8001.15 12.540 8001.04 12.6 

8009.23 12.282 8001.15 12.520 8001.04 12.6 
 67

Table A.1 Data Set 1 - Relative Distance Calibration: 0 m to 60 m

Location: Environmentally controlled lab, Bldg. 220 File: rel_dist_anal.xls 

No Filter 

Test Dates: July 14-15, 1999 

Interfero. Dist. 

(mm) 

tall post 

Wht., not 

shiny 

(m) 

Interfero. 

Dist. (mm) 

short post 

Wht.,not shiny

(m) 

Interfero. Dist. 

(mm) 

tall post 

Wht., shiny 

(m) 

8009.23 12.262 8001.15 12.540 8001.04 12.56 

8009.23 12.322 8001.15 12.500 8001.04 12.58 

8009.23 12.342 8001.15 12.540 8001.04 12.6 

8009.23 12.362 8001.15 12.479 8001.04 12.6 

8009.23 12.362 8001.15 12.540 8001.04 12.58 

8009.23 12.322 8001.15 12.540 8001.04 12.6 

8009.23 12.342 8001.15 12.439 8001.04 12.58 

8009.23 12.362 8001.15 12.620 8001.04 12.58 

8009.23 12.422 8001.15 12.560 8001.04 12.6 

8009.23 12.402 8001.15 12.379 8001.04 12.62 

8009.23 12.302 10000.28 14.584 10000.81 14.564 

8009.23 12.402 10000.28 14.524 10000.81 14.604 

10021.08 14.346 10000.28 14.483 10000.81 14.564 

10021.08 14.452 10000.28 14.584 10000.81 14.604 

10021.08 14.312 10000.28 14.584 10000.81 14.544 

10021.08 14.392 10000.28 14.564 10000.81 14.604 

10021.08 14.392 10000.28 14.504 10000.81 14.604 

10021.08 14.337 10000.28 14.564 10000.81 14.564 

10021.08 14.352 10000.28 14.504 10000.81 14.584 

10021.08 14.392 10000.28 14.483 10000.81 14.584 

10021.08 14.417 10000.28 14.524 10000.81 14.564 

10021.08 14.332 10000.28 14.584 10000.81 14.604 

10021.08 14.352 10000.28 14.544 10000.81 14.584 

10021.08 14.252 10000.28 14.483 10000.81 14.564 

10021.08 14.352 10000.28 14.564 10000.81 14.584 

10021.08 14.372 10000.28 14.604 10000.81 14.644 

10021.08 14.432 10000.28 14.624 10000.81 14.624 

10021.08 14.332 10000.28 14.524 10000.81 14.584 

10021.08 14.332 10000.28 14.504 10000.81 14.564 

10021.08 14.452 10000.28 14.524 10000.81 14.584 

10021.08 14.372 10000.28 14.564 10000.81 14.624 

10021.08 14.372 10000.28 14.544 10000.81 14.604 

10021.08 14.332 10000.28 14.504 10000.81 14.604 

10021.08 14.352 10000.28 14.604 10000.81 14.584 

10021.08 14.452 10000.28 14.584 10000.81 14.584 

10021.08 14.392 14997.95 19.425 15006.54 19.605 

10021.08 14.312 14997.95 19.445 15006.54 19.605 

15026.58 19.334 14997.95 19.485 15006.54 19.545 

15026.58 19.334 14997.95 19.445 15006.54 19.565 

15026.58 19.314 14997.95 19.425 15006.54 19.585 

15026.58 19.374 14997.95 19.525 15006.54 19.585 

15026.58 19.314 14997.95 19.405 15006.54 19.545 

15026.58 19.394 14997.95 19.425 15006.54 19.605 

15026.58 19.334 14997.95 19.454 15006.54 19.585 

15026.58 19.274 14997.95 19.425 15006.54 19.585 

15026.58 19.374 14997.95 19.425 15006.54 19.565 

15026.58 19.374 14997.95 19.445 15006.54 19.585 

15026.58 19.374 14997.95 19.485 15006.54 19.605 

15026.58 19.354 14997.95 19.445 15006.54 19.545 

15026.58 19.334 14997.95 19.485 15006.54 19.585 

15026.58 19.394 14997.95 19.485 15006.54 19.585 

15026.58 19.294 14997.95 19.425 15006.54 19.605 

15026.58 19.334 14997.95 19.485 15006.54 19.545 

15026.58 19.334 14997.95 19.425 15006.54 19.545 

15026.58 19.354 14997.95 19.465 15006.54 19.585 

15026.58 19.294 14997.95 19.405 15006.54 19.545 

15026.58 19.354 14997.95 19.485 15006.54 19.565 

15026.58 19.414 14997.95 19.425 15006.54 19.585 

15026.58 19.294 14997.95 19.405 15006.54 19.545 

15026.58 19.294 14997.95 19.445 15006.54 19.585 
 68

Table A.1 Data Set 1 - Relative Distance Calibration: 0 m to 60 m

Location: Environmentally controlled lab, Bldg. 220 File: rel_dist_anal.xls 

No Filter 

Test Dates: July 14-15, 1999 

Interfero. Dist. 

(mm) 

tall post 

Wht., not 

shiny 

(m) 

Interfero. 

Dist. (mm) 

short post 

Wht.,not shiny

(m) 

Interfero. Dist. 

(mm) 

tall post 

Wht., shiny 

(m) 

15026.58 19.394 20010.64 24.425 20136.28 24.725 

15026.58 19.274 20010.64 24.505 20136.28 24.745 

20015.67 24.274 20010.64 24.505 20136.28 24.685 

20015.67 24.31 20010.64 24.565 20136.28 24.725 

20015.67 24.27 20010.64 24.505 20136.28 24.705 

20015.67 24.29 20010.64 24.485 20136.28 24.685 

20015.67 24.25 20010.64 24.555 20136.28 24.725 

20015.67 24.35 20010.64 24.485 20136.28 24.725 

20015.67 24.29 20010.64 24.445 20136.28 24.765 

20015.67 24.31 20010.64 24.445 20136.28 24.725 

20015.67 24.33 20010.64 24.405 20136.28 24.725 

20015.67 24.31 20010.64 24.445 20136.28 24.705 

20015.67 24.33 20010.64 24.525 20136.28 24.705 

20015.67 24.29 20010.64 24.445 20136.28 24.705 

20015.67 24.31 20010.64 24.425 20136.28 24.685 

20015.67 24.33 20010.64 24.465 20136.28 24.705 

20015.67 24.27 20010.64 24.505 20136.28 24.765 

20015.67 24.31 20010.64 24.525 20136.28 24.665 

20015.67 24.31 20010.64 24.485 20136.28 24.685 

20015.67 24.27 20010.64 24.545 20136.28 24.685 

20015.67 24.33 20010.64 24.505 20136.28 24.705 

20015.67 24.29 20010.64 24.485 20136.28 24.685 

20015.67 24.33 20010.64 24.485 20136.28 24.705 

20015.67 24.37 20010.64 24.565 20136.28 24.725 

20015.67 24.31 20010.64 24.545 20136.28 24.725 

20015.67 24.29 30007.36 34.445 30806.36 35.385 

20015.67 24.25 30007.36 34.505 30806.36 35.325 

29936.1 34.250 30007.36 34.465 30806.36 35.365 

29936.1 34.23 30007.36 34.545 30806.36 35.365 

29936.1 34.23 30007.36 34.465 30806.36 35.365 

29936.1 34.21 30007.36 34.545 30806.36 35.385 

29936.1 34.21 30007.36 34.465 30806.36 35.325 

29936.1 34.23 30007.36 34.465 30806.36 35.465 

29936.1 34.19 30007.36 34.485 30806.36 35.365 

29936.1 34.23 30007.36 34.505 30806.36 35.345 

29936.1 34.21 30007.36 34.465 30806.36 35.385 

29936.1 34.27 30007.36 34.505 30806.36 35.325 

29936.1 34.19 30007.36 34.485 30806.36 35.425 

29936.1 34.17 30007.36 34.485 30806.36 35.365 

29936.1 34.23 30007.36 34.525 30806.36 35.385 

29936.1 34.21 30007.36 34.505 30806.36 35.385 

29936.1 34.21 30007.36 34.485 30806.36 35.385 

29936.1 34.23 30007.36 34.465 30806.36 35.345 

29936.1 34.21 30007.36 34.485 30806.36 35.385 

29936.1 34.19 30007.36 34.465 30806.36 35.365 

29936.1 34.23 30007.36 34.505 30806.36 35.385 

29936.1 34.27 30007.36 34.385 30806.36 35.385 

29936.1 34.19 30007.36 34.325 30806.36 35.385 

29936.1 34.23 30007.36 34.505 30806.36 35.385 

29936.1 34.23 30007.36 34.485 30806.36 35.365 

29936.1 34.23 0.00 4.468 39913.22 44.425 

29936.1 34.25 0.00 4.508 39913.22 44.425 

39998.52 44.870 0.00 4.528 39913.22 44.445 

39998.52 44.89 0.00 4.508 39913.22 44.465 

39998.52 44.89 0.00 4.488 39913.22 44.445 

39998.52 44.83 0.00 4.548 39913.22 44.465 

39998.52 44.87 0.00 4.468 39913.22 44.425 

39998.52 44.805 0.00 4.488 39913.22 44.445 

39998.52 44.865 0.00 4.468 39913.22 44.465 

39998.52 44.85 0.00 4.388 39913.22 44.465 
 69

Table A.1 Data Set 1 - Relative Distance Calibration: 0 m to 60 m

Location: Environmentally controlled lab, Bldg. 220 File: rel_dist_anal.xls 

No Filter 

Test Dates: July 14-15, 1999 

Interfero. Dist. 

(mm) 

tall post 

Wht., not 

shiny 

(m) 

Interfero. 

Dist. (mm) 

short post 

Wht.,not shiny

(m) 

Interfero. Dist. 

(mm) 

tall post 

Wht., shiny 

(m) 

39998.52 44.87 0.00 4.428 39913.22 44.445 

39998.52 44.87 0.00 4.528 39913.22 44.465 

39998.52 44.81 0.00 4.488 39913.22 44.425 

39998.52 44.83 0.00 4.488 39913.22 44.445 

39998.52 44.81 0.00 4.468 39913.22 44.445 

39998.52 44.89 0.00 4.448 39913.22 44.465 

39998.52 44.85 0.00 4.448 39913.22 44.465 

39998.52 44.85 0.00 4.488 39913.22 44.465 

39998.52 44.85 0.00 4.488 39913.22 44.465 

39998.52 44.91 0.00 4.488 39913.22 44.405 

39998.52 44.89 0.00 4.388 39913.22 44.465 

39998.52 44.83 0.00 4.548 39913.22 44.465 

39998.52 44.85 0.00 4.508 39913.22 44.425 

39998.52 44.83 0.00 4.568 39913.22 44.425 

39998.52 44.83 0.00 4.528 39913.22 44.445 

39998.52 44.87 39995.68 44.465 39913.22 44.445 

39998.52 44.85 39995.68 44.545 49895.7 54.465 

49954.58 54.505 39995.68 44.465 49895.7 54.485 

49954.58 54.525 39995.68 44.505 49895.7 54.485 

49954.58 54.565 39995.68 44.485 49895.7 54.445 

49954.58 54.605 39995.68 44.465 49895.7 54.465 

49954.58 54.485 39995.68 44.465 49895.7 54.445 

49954.58 54.605 39995.68 44.505 49895.7 54.465 

49954.58 54.565 39995.68 44.525 49895.7 54.485 

49954.58 54.525 39995.68 44.465 49895.7 54.465 

49954.58 54.465 39995.68 44.425 49895.7 54.445 

49954.58 54.505 39995.68 44.505 49895.7 54.445 

49954.58 54.565 39995.68 44.445 49895.7 54.445 

49954.58 54.585 39995.68 44.485 49895.7 54.465 

49954.58 54.525 39995.68 44.505 49895.7 54.465 

49954.58 54.545 39995.68 44.525 49895.7 54.445 

49954.58 54.545 39995.68 44.585 49895.7 54.445 

49954.58 54.545 39995.68 44.505 49895.7 54.465 

49954.58 54.505 39995.68 44.585 49895.7 54.465 

49954.58 54.565 39995.68 44.505 49895.7 54.445 

49954.58 54.525 39995.68 44.565 49895.7 54.445 

49954.58 54.465 39995.68 44.505 49895.7 54.445 

49954.58 54.565 39995.68 44.565 49895.7 54.445 

49954.58 54.545 39995.68 44.585 49895.7 54.465 

49954.58 54.625 39995.68 44.565 49895.7 54.465 

49954.58 54.545 49951.73 54.365 49895.7 54.485 

49954.58 54.505 49951.73 54.405 49895.7 54.465 

 49951.73 54.465 

 49951.73 54.445 

 49951.73 54.425 

 49951.73 54.465 

 49951.73 54.425 

 49951.73 54.445 

 49951.73 54.445 

 49951.73 54.385 

 49951.73 54.365 

 49951.73 54.445 

 49951.73 54.405 

 49951.73 54.405 

 49951.73 54.425 

 49951.73 54.465 

 49951.73 54.405 

 49951.73 54.425 

 49951.73 54.425 

 49951.73 54.445 
 70

Table A.1 Data Set 1 - Relative Distance Calibration: 0 m to 60 m

Location: Environmentally controlled lab, Bldg. 220 File: rel_dist_anal.xls 

No Filter 

Test Dates: July 14-15, 1999 

Interfero. Dist. 

(mm) 

tall post 

Wht., not 

shiny 

(m) 

Interfero. 

Dist. (mm) 

short post 

Wht.,not shiny

(m) 

Interfero. Dist. 

(mm) 

tall post 

Wht., shiny 

(m) 

 49951.73 54.425 

 49951.73 54.425 

 49951.73 54.465 

 49951.73 54.565 

 49951.73 54.505 
 71

Table A.1 Data Set1 - Relative Distance Calibration: 0 m to 60 m 

Location: Environmentally controlled lab, Bldg. 220 File: rel_dist_anal.xls

No Filter 

Test dates: July 14-15, 1999 

Interfero. 

Dist. 

(mm) 

Blck, not 

shiny 

(m) 

Interfero. 

Dist. 

(mm) 

Blck, shiny

(m) 

Interfero. 

Dist. 

(mm) 

Dk. Grey, 

rough 

(m) 

Interfero. 

Dist. 

(mm) 

Pink, not 

shiny 

(m) 

0 4.428 0 4.428 0 4.468 0 4.548 

0 4.428 0 4.388 0 4.408 0 4.528 

0 4.408 0 4.408 0 4.408 0 4.528 

0 4.408 0 4.408 0 4.428 0 4.488 

0 4.488 0 4.408 0 4.408 0 4.488 

0 4.368 0 4.408 0 4.388 0 4.548 

0 4.388 0 4.408 0 4.428 0 4.508 

0 4.408 0 4.368 0 4.388 0 4.528 

0 4.388 0 4.428 0 4.448 0 4.528 

0 4.388 0 4.428 0 4.428 0 4.548 

0 4.408 0 4.428 0 4.428 0 4.508 

0 4.408 0 4.428 0 4.408 0 4.568 

0 4.408 0 4.408 0 4.408 0 4.468 

0 4.408 0 4.388 0 4.428 0 4.528 

0 4.388 0 4.428 0 4.368 0 4.508 

0 4.408 0 4.408 0 4.408 0 4.548 

0 4.408 0 4.348 0 4.408 0 4.528 

0 4.388 0 4.428 0 4.388 0 4.528 

0 4.388 0 4.428 0 4.408 0 4.508 

0 4.388 0 4.408 0 4.428 0 4.528 

0 4.388 0 4.428 0 4.428 0 4.528 

0 4.408 0 4.368 0 4.428 0 4.488 

0 4.388 0 4.428 0 4.408 0 4.468 

0 4.408 0 4.408 0 4.428 0 4.508 

0 4.408 0 4.408 0 4.428 0 4.528 

2000.24 6.430 2000.57 6.410 2001.41 6.410 2000.71 6.530 

2000.24 6.410 2000.57 6.470 2001.41 6.450 2000.71 6.470 

2000.24 6.410 2000.57 6.470 2001.41 6.450 2000.71 6.490 

2000.24 6.410 2000.57 6.470 2001.41 6.470 2000.71 6.490 

2000.24 6.370 2000.57 6.450 2001.41 6.430 2000.71 6.530 

2000.24 6.390 2000.57 6.430 2001.41 6.430 2000.71 6.530 

2000.24 6.390 2000.57 6.430 2001.41 6.470 2000.71 6.510 

2000.24 6.450 2000.57 6.410 2001.41 6.450 2000.71 6.470 

2000.24 6.430 2000.57 6.450 2001.41 6.490 2000.71 6.490 

2000.24 6.370 2000.57 6.410 2001.41 6.470 2000.71 6.510 

2000.24 6.390 2000.57 6.430 2001.41 6.410 2000.71 6.530 

2000.24 6.390 2000.57 6.470 2001.41 6.470 2000.71 6.510 

2000.24 6.410 2000.57 6.450 2001.41 6.430 2000.71 6.530 

2000.24 6.430 2000.57 6.470 2001.41 6.430 2000.71 6.510 

2000.24 6.410 2000.57 6.430 2001.41 6.490 2000.71 6.510 

2000.24 6.410 2000.57 6.430 2001.41 6.430 2000.71 6.490 

2000.24 6.410 2000.57 6.470 2001.41 6.470 2000.71 6.530 

2000.24 6.390 2000.57 6.450 2001.41 6.490 2000.71 6.490 

2000.24 6.410 2000.57 6.450 2001.41 6.430 2000.71 6.510 

2000.24 6.430 2000.57 6.450 2001.41 6.430 2000.71 6.510 

2000.24 6.430 2000.57 6.450 2001.41 6.450 2000.71 6.490 

2000.24 6.390 2000.57 6.410 2001.41 6.390 2000.71 6.550 

2000.24 6.430 2000.57 6.450 2001.41 6.430 2000.71 6.490 

2000.24 6.410 2000.57 6.430 2001.41 6.430 2000.71 6.550 

2000.24 6.430 2000.57 6.470 2001.41 6.470 2000.71 6.510 

4009.75 8.473 3998.67 8.373 3998.68 8.473 4000.15 8.433 

4009.75 8.453 3998.67 8.433 3998.68 8.473 4000.15 8.453 

4009.75 8.413 3998.67 8.413 3998.68 8.513 4000.15 8.393 

4009.75 8.453 3998.67 8.413 3998.68 8.453 4000.15 8.413 

4009.75 8.433 3998.67 8.393 3998.68 8.513 4000.15 8.453 

4009.75 8.493 3998.67 8.393 3998.68 8.513 4000.15 8.473 

4009.75 8.453 3998.67 8.413 3998.68 8.473 4000.15 8.473 
 72

Table A.1 Data Set1 - Relative Distance Calibration: 0 m to 60 m 

Location: Environmentally controlled lab, Bldg. 220 File: rel_dist_anal.xls

No Filter 

Test dates: July 14-15, 1999 

Interfero. 

Dist. 

(mm) 

Blck, not 

shiny 

(m) 

Interfero. 

Dist. 

(mm) 

Blck, shiny

(m) 

Interfero. 

Dist. 

(mm) 

Dk. Grey, 

rough 

(m) 

Interfero. 

Dist. 

(mm) 

Pink, not 

shiny 

(m) 

4009.75 8.433 3998.67 8.373 3998.68 8.473 4000.15 8.453 

4009.75 8.433 3998.67 8.373 3998.68 8.453 4000.15 8.473 

4009.75 8.433 3998.67 8.433 3998.68 8.453 4000.15 8.393 

4009.75 8.453 3998.67 8.373 3998.68 8.453 4000.15 8.433 

4009.75 8.493 3998.67 8.413 3998.68 8.453 4000.15 8.433 

4009.75 8.433 3998.67 8.393 3998.68 8.433 4000.15 8.413 

4009.75 8.433 3998.67 8.393 3998.68 8.493 4000.15 8.453 

4009.75 8.453 3998.67 8.433 3998.68 8.553 4000.15 8.433 

4009.75 8.433 3998.67 8.433 3998.68 8.473 4000.15 8.413 

4009.75 8.433 3998.67 8.433 3998.68 8.413 4000.15 8.433 

4009.75 8.433 3998.67 8.373 3998.68 8.433 4000.15 8.413 

4009.75 8.433 3998.67 8.433 3998.68 8.493 4000.15 8.393 

4009.75 8.473 3998.67 8.433 3998.68 8.493 4000.15 8.473 

4009.75 8.433 3998.67 8.413 3998.68 8.493 4000.15 8.433 

4009.75 8.453 3998.67 8.373 3998.68 8.453 4000.15 8.433 

4009.75 8.453 3998.67 8.433 3998.68 8.433 4000.15 8.433 

4009.75 8.453 3998.67 8.413 3998.68 8.453 4000.15 8.433 

4009.75 8.473 3998.67 8.393 3998.68 8.453 4000.15 8.453 

6001.70 10.456 6000.67 10.416 5999.74 10.496 6001.67 10.416 

6001.70 10.416 6000.67 10.356 5999.74 10.456 6001.67 10.436 

6001.70 10.416 6000.67 10.376 5999.74 10.416 6001.67 10.456 

6001.70 10.396 6000.67 10.436 5999.74 10.476 6001.67 10.396 

6001.70 10.436 6000.67 10.396 5999.74 10.396 6001.67 10.356 

6001.70 10.396 6000.67 10.396 5999.74 10.476 6001.67 10.496 

6001.70 10.416 6000.67 10.376 5999.74 10.416 6001.67 10.396 

6001.70 10.476 6000.67 10.396 5999.74 10.456 6001.67 10.436 

6001.70 10.436 6000.67 10.416 5999.74 10.496 6001.67 10.476 

6001.70 10.416 6000.67 10.396 5999.74 10.456 6001.67 10.416 

6001.70 10.476 6000.67 10.416 5999.74 10.436 6001.67 10.456 

6001.70 10.456 6000.67 10.416 5999.74 10.456 6001.67 10.456 

6001.70 10.416 6000.67 10.396 5999.74 10.476 6001.67 10.456 

6001.70 10.416 6000.67 10.416 5999.74 10.476 6001.67 10.416 

6001.70 10.456 6000.67 10.416 5999.74 10.436 6001.67 10.396 

6001.70 10.416 6000.67 10.356 5999.74 10.456 6001.67 10.456 

6001.70 10.476 6000.67 10.396 5999.74 10.496 6001.67 10.456 

6001.70 10.456 6000.67 10.436 5999.74 10.416 6001.67 10.436 

6001.70 10.416 6000.67 10.376 5999.74 10.496 6001.67 10.436 

6001.70 10.376 6000.67 10.396 5999.74 10.476 6001.67 10.436 

6001.70 10.456 6000.67 10.396 5999.74 10.456 6001.67 10.436 

6001.70 10.436 6000.67 10.456 5999.74 10.476 6001.67 10.436 

6001.70 10.436 6000.67 10.416 5999.74 10.456 6001.67 10.476 

6001.70 10.456 6000.67 10.396 5999.74 10.436 6001.67 10.436 

6001.70 10.456 6000.67 10.416 5999.74 10.456 6001.67 10.456 

7999.24 12.439 7998.05 12.399 7998.77 12.439 8000.42 12.439 

7999.24 12.459 7998.05 12.399 7998.77 12.459 8000.42 12.459 

7999.24 12.419 7998.05 12.399 7998.77 12.500 8000.42 12.479 

7999.24 12.459 7998.05 12.419 7998.77 12.500 8000.42 12.439 

7999.24 12.459 7998.05 12.399 7998.77 12.479 8000.42 12.439 

7999.24 12.479 7998.05 12.419 7998.77 12.439 8000.42 12.399 

7999.24 12.459 7998.05 12.419 7998.77 12.439 8000.42 12.439 

7999.24 12.479 7998.05 12.419 7998.77 12.500 8000.42 12.479 

7999.24 12.439 7998.05 12.419 7998.77 12.500 8000.42 12.439 

7999.24 12.479 7998.05 12.399 7998.77 12.439 8000.42 12.479 

7999.24 12.439 7998.05 12.439 7998.77 12.459 8000.42 12.419 

7999.24 12.459 7998.05 12.439 7998.77 12.439 8000.42 12.439 

7999.24 12.459 7998.05 12.419 7998.77 12.479 8000.42 12.459 

7999.24 12.439 7998.05 12.399 7998.77 12.479 8000.42 12.419 

7999.24 12.459 7998.05 12.379 7998.77 12.439 8000.42 12.459 

7999.24 12.419 7998.05 12.419 7998.77 12.459 8000.42 12.459 

7999.24 12.439 7998.05 12.379 7998.77 12.479 8000.42 12.419 
 73

Table A.1 Data Set1 - Relative Distance Calibration: 0 m to 60 m 

Location: Environmentally controlled lab, Bldg. 220 File: rel_dist_anal.xls

No Filter 

Test dates: July 14-15, 1999 

Interfero. 

Dist. 

(mm) 

Blck, not 

shiny 

(m) 

Interfero. 

Dist. 

(mm) 

Blck, shiny

(m) 

Interfero. 

Dist. 

(mm) 

Dk. Grey, 

rough 

(m) 

Interfero. 

Dist. 

(mm) 

Pink, not 

shiny 

(m) 

7999.24 12.459 7998.05 12.399 7998.77 12.439 8000.42 12.439 

7999.24 12.459 7998.05 12.399 7998.77 12.439 8000.42 12.459 

7999.24 12.459 7998.05 12.399 7998.77 12.479 8000.42 12.419 

7999.24 12.439 7998.05 12.419 7998.77 12.459 8000.42 12.399 

7999.24 12.459 7998.05 12.399 7998.77 12.459 8000.42 12.439 

7999.24 12.459 7998.05 12.379 7998.77 12.419 8000.42 12.479 

7999.24 12.500 7998.05 12.439 7998.77 12.459 8000.42 12.419 

7999.24 12.459 7998.05 12.419 7998.77 12.479 8000.42 12.439 

10000.69 14.443 9999.7 14.363 9999.81 14.463 10000.91 14.463 

10000.69 14.423 9999.7 14.383 9999.81 14.463 10000.91 14.443 

10000.69 14.483 9999.7 14.363 9999.81 14.504 10000.91 14.463 

10000.69 14.443 9999.7 14.423 9999.81 14.403 10000.91 14.403 

10000.69 14.463 9999.7 14.383 9999.81 14.483 10000.91 14.443 

10000.69 14.423 9999.7 14.363 9999.81 14.463 10000.91 14.463 

10000.69 14.443 9999.7 14.383 9999.81 14.504 10000.91 14.483 

10000.69 14.443 9999.7 14.383 9999.81 14.463 10000.91 14.443 

10000.69 14.403 9999.7 14.383 9999.81 14.483 10000.91 14.423 

10000.69 14.443 9999.7 14.403 9999.81 14.423 10000.91 14.463 

10000.69 14.443 9999.7 14.403 9999.81 14.483 10000.91 14.423 

10000.69 14.423 9999.7 14.383 9999.81 14.463 10000.91 14.423 

10000.69 14.443 9999.7 14.423 9999.81 14.443 10000.91 14.443 

10000.69 14.463 9999.7 14.383 9999.81 14.483 10000.91 14.483 

10000.69 14.423 9999.7 14.403 9999.81 14.483 10000.91 14.483 

10000.69 14.443 9999.7 14.403 9999.81 14.499 10000.91 14.403 

10000.69 14.443 9999.7 14.363 9999.81 14.483 10000.91 14.463 

10000.69 14.463 9999.7 14.363 9999.81 14.463 10000.91 14.463 

10000.69 14.443 9999.7 14.403 9999.81 14.483 10000.91 14.463 

10000.69 14.463 9999.7 14.423 9999.81 14.463 10000.91 14.483 

10000.69 14.443 9999.7 14.383 9999.81 14.443 10000.91 14.463 

10000.69 14.443 9999.7 14.423 9999.81 14.463 10000.91 14.443 

10000.69 14.443 9999.7 14.403 9999.81 14.483 10000.91 14.423 

10000.69 14.483 9999.7 14.403 9999.81 14.443 10000.91 14.483 

10000.69 14.443 9999.7 14.363 9999.81 14.483 10000.91 14.443 

14996.22 19.425 14995.35 19.405 14996.92 19.505 14996.90 19.465 

14996.22 19.445 14995.35 19.405 14996.92 19.425 14996.90 19.385 

14996.22 19.405 14995.35 19.405 14996.92 19.465 14996.90 19.445 

14996.22 19.445 14995.35 19.425 14996.92 19.485 14996.90 19.445 

14996.22 19.425 14995.35 19.445 14996.92 19.385 14996.90 19.445 

14996.22 19.385 14995.35 19.405 14996.92 19.485 14996.90 19.445 

14996.22 19.445 14995.35 19.405 14996.92 19.485 14996.90 19.425 

14996.22 19.445 14995.35 19.425 14996.92 19.445 14996.90 19.425 

14996.22 19.465 14995.35 19.385 14996.92 19.425 14996.90 19.425 

14996.22 19.445 14995.35 19.385 14996.92 19.505 14996.90 19.485 

14996.22 19.425 14995.35 19.405 14996.92 19.445 14996.90 19.445 

14996.22 19.445 14995.35 19.425 14996.92 19.445 14996.90 19.425 

14996.22 19.425 14995.35 19.445 14996.92 19.525 14996.90 19.445 

14996.22 19.445 14995.35 19.385 14996.92 19.485 14996.90 19.485 

14996.22 19.485 14995.35 19.405 14996.92 19.445 14996.90 19.485 

14996.22 19.425 14995.35 19.445 14996.92 19.505 14996.90 19.445 

14996.22 19.405 14995.35 19.425 14996.92 19.465 14996.90 19.425 

14996.22 19.465 14995.35 19.405 14996.92 19.485 14996.90 19.465 

14996.22 19.425 14995.35 19.405 14996.92 19.445 14996.90 19.385 

14996.22 19.465 14995.35 19.405 14996.92 19.445 14996.90 19.425 

14996.22 19.465 14995.35 19.405 14996.92 19.485 14996.90 19.385 

14996.22 19.405 14995.35 19.385 14996.92 19.505 14996.90 19.425 

14996.22 19.465 14995.35 19.405 14996.92 19.445 14996.90 19.445 

14996.22 19.465 14995.35 19.465 14996.92 19.465 14996.90 19.445 

14996.22 19.465 14995.35 19.405 14996.92 19.465 14996.90 19.425 

20009.44 24.525 20011.32 24.465 20010.28 24.545 20011.23 24.465 

20009.44 24.465 20011.32 24.445 20010.28 24.505 20011.23 24.465 
 74

Table A.1 Data Set1 - Relative Distance Calibration: 0 m to 60 m 

Location: Environmentally controlled lab, Bldg. 220 File: rel_dist_anal.xls

No Filter 

Test dates: July 14-15, 1999 

Interfero. 

Dist. 

(mm) 

Blck, not 

shiny 

(m) 

Interfero. 

Dist. 

(mm) 

Blck, shiny

(m) 

Interfero. 

Dist. 

(mm) 

Dk. Grey, 

rough 

(m) 

Interfero. 

Dist. 

(mm) 

Pink, not 

shiny 

(m) 

20009.44 24.425 20011.32 24.445 20010.28 24.545 20011.23 24.445 

20009.44 24.485 20011.32 24.485 20010.28 24.505 20011.23 24.445 

20009.44 24.485 20011.32 24.485 20010.28 24.565 20011.23 24.445 

20009.44 24.445 20011.32 24.465 20010.28 24.525 20011.23 24.465 

20009.44 24.425 20011.32 24.425 20010.28 24.565 20011.23 24.445 

20009.44 24.485 20011.32 24.425 20010.28 24.525 20011.23 24.465 

20009.44 24.465 20011.32 24.465 20010.28 24.485 20011.23 24.465 

20009.44 24.505 20011.32 24.445 20010.28 24.585 20011.23 24.425 

20009.44 24.485 20011.32 24.465 20010.28 24.505 20011.23 24.445 

20009.44 24.425 20011.32 24.465 20010.28 24.425 20011.23 24.425 

20009.44 24.445 20011.32 24.465 20010.28 24.525 20011.23 24.445 

20009.44 24.465 20011.32 24.405 20010.28 24.505 20011.23 24.445 

20009.44 24.445 20011.32 24.425 20010.28 24.445 20011.23 24.465 

20009.44 24.445 20011.32 24.405 20010.28 24.545 20011.23 24.445 

20009.44 24.505 20011.32 24.425 20010.28 24.545 20011.23 24.405 

20009.44 24.485 20011.32 24.465 20010.28 24.545 20011.23 24.445 

20009.44 24.465 20011.32 24.465 20010.28 24.545 20011.23 24.465 

20009.44 24.445 20011.32 24.425 20010.28 24.485 20011.23 24.465 

20009.44 24.465 20011.32 24.485 20010.28 24.545 20011.23 24.465 

20009.44 24.425 20011.32 24.465 20010.28 24.485 20011.23 24.480 

20009.44 24.445 20011.32 24.405 20010.28 24.485 20011.23 24.445 

20009.44 24.465 20011.32 24.485 20010.28 24.505 20011.23 24.465 

20009.44 24.465 20011.32 24.445 20010.28 24.485 20011.23 24.485 

30003.46 34.405 30003.76 34.485 30005.96 34.525 30007.11 34.465 

30003.46 34.565 30003.76 34.545 30005.96 34.705 30007.11 34.425 

30003.46 34.545 30003.76 34.525 30005.96 34.625 30007.11 34.485 

30003.46 34.545 30003.76 34.465 30005.96 34.625 30007.11 34.425 

30003.46 34.505 30003.76 34.545 30005.96 34.585 30007.11 34.485 

30003.46 34.525 30003.76 34.465 30005.96 34.545 30007.11 34.425 

30003.46 34.565 30003.76 34.485 30005.96 34.505 30007.11 34.425 

30003.46 34.525 30003.76 34.505 30005.96 34.605 30007.11 34.425 

30003.46 34.525 30003.76 34.445 30005.96 34.645 30007.11 34.445 

30003.46 34.000 30003.76 34.505 30005.96 34.605 30007.11 34.465 

30003.46 34.545 30003.76 34.485 30005.96 34.525 30007.11 34.445 

30003.46 34.465 30003.76 34.485 30005.96 34.585 30007.11 34.385 

30003.46 34.525 30003.76 34.505 30005.96 34.585 30007.11 34.485 

30003.46 34.465 30003.76 34.505 30005.96 34.525 30007.11 34.425 

30003.46 34.485 30003.76 34.505 30005.96 34.545 30007.11 34.465 

30003.46 34.545 30003.76 34.485 30005.96 34.525 30007.11 34.485 

30003.46 34.505 30003.76 34.505 30005.96 34.505 30007.11 34.465 

30003.46 34.585 30003.76 34.485 30005.96 34.625 30007.11 34.425 

30003.46 34.465 30003.76 34.465 30005.96 34.605 30007.11 34.485 

30003.46 34.545 30003.76 34.505 30005.96 34.645 30007.11 34.425 

30003.46 34.625 30003.76 34.445 30005.96 34.485 30007.11 34.445 

30003.46 34.545 30003.76 34.485 30005.96 34.565 30007.11 34.465 

30003.46 34.445 30003.76 34.485 30005.96 34.565 30007.11 34.445 

30003.46 34.585 30003.76 34.485 30005.96 34.505 30007.11 34.420 

30003.46 34.445 30003.76 34.405 30005.96 34.465 30007.11 34.405 

39961.74 44.405 39963.03 44.485 39963.32 44.485 39965.70 44.425 

39961.74 44.505 39963.03 44.465 39963.32 44.405 39965.70 44.405 

39961.74 44.505 39963.03 44.545 39963.32 44.465 39965.70 44.425 

39961.74 44.505 39963.03 44.445 39963.32 44.525 39965.70 44.405 

39961.74 44.545 39963.03 44.465 39963.32 44.445 39965.70 44.445 

39961.74 44.465 39963.03 44.485 39963.32 44.485 39965.70 44.425 

39961.74 44.545 39963.03 44.405 39963.32 44.485 39965.70 44.425 

39961.74 44.465 39963.03 44.465 39963.32 44.585 39965.70 44.365 

39961.74 44.525 39963.03 44.465 39963.32 44.605 39965.70 44.385 

39961.74 44.565 39963.03 44.465 39963.32 44.445 39965.70 44.445 

39961.74 44.405 39963.03 44.465 39963.32 44.585 39965.70 44.405 

39961.74 44.485 39963.03 44.485 39963.32 44.445 39965.70 44.385 
 75

Table A.1 Data Set1 - Relative Distance Calibration: 0 m to 60 m 

Location: Environmentally controlled lab, Bldg. 220 File: rel_dist_anal.xls

No Filter 

Test dates: July 14-15, 1999 

Interfero. 

Dist. 

(mm) 

Blck, not 

shiny 

(m) 

Interfero. 

Dist. 

(mm) 

Blck, shiny

(m) 

Interfero. 

Dist. 

(mm) 

Dk. Grey, 

rough 

(m) 

Interfero. 

Dist. 

(mm) 

Pink, not 

shiny 

(m) 

39961.74 44.505 39963.03 44.445 39963.32 44.565 39965.70 44.405 

39961.74 44.605 39963.03 44.485 39963.32 44.525 39965.70 44.405 

39961.74 44.545 39963.03 44.505 39963.32 44.525 39965.70 44.385 

39961.74 44.545 39963.03 44.485 39963.32 44.465 39965.70 44.425 

39961.74 44.605 39963.03 44.465 39963.32 44.525 39965.70 44.445 

39961.74 44.605 39963.03 44.485 39963.32 44.505 39965.70 44.405 

39961.74 44.485 39963.03 44.465 39963.32 44.405 39965.70 44.445 

39961.74 44.445 39963.03 44.485 39963.32 44.425 39965.70 44.385 

39961.74 44.605 39963.03 44.365 39963.32 44.445 39965.70 44.385 

39961.74 44.505 39963.03 44.445 39963.32 44.665 39965.70 44.405 

39961.74 44.505 39963.03 44.405 39963.32 44.605 39965.70 44.385 

39961.74 44.485 39963.03 44.445 39963.32 44.445 39965.70 44.385 

39961.74 44.505 39963.03 44.425 39963.32 44.645 39965.70 44.425 

 49914.07 54.565 49926.43 54.465 

 49914.07 54.465 49926.43 54.465 

 49914.07 54.465 49926.43 54.445 

 49914.07 54.585 49926.43 54.385 

 49914.07 54.525 49926.43 54.405 

 49914.07 54.405 49926.43 54.445 

 49914.07 54.545 49926.43 54.445 

 49914.07 54.425 49926.43 54.465 

 49914.07 54.565 49926.43 54.445 

 49914.07 54.405 49926.43 54.385 

 49914.07 54.485 49926.43 54.425 

 49914.07 54.465 49926.43 54.465 

 49914.07 54.445 49926.43 54.485 

 49914.07 54.485 49926.43 54.465 

 49914.07 54.485 49926.43 54.405 

 49914.07 54.485 49926.43 54.405 

 49914.07 54.525 49926.43 54.405 

 49914.07 54.565 49926.43 54.445 

 49914.07 54.585 49926.43 54.385 

 49914.07 54.385 49926.43 54.485 

 49914.07 54.345 49926.43 54.445 

 49914.07 54.445 49926.43 54.465 

 49914.07 54.365 49926.43 54.465 

 49914.07 54.485 49926.43 54.445 

 49914.07 54.405 49926.43 54.425 
 76

Table A.1 Data Set 1 - Relative Distance Calibration: 0 m to 60 m 

Location: Environmentally controlled lab, Bldg. 220 

No Filter 

File: rel_dist_anal.xls 

Test dates: July 14-15, 1999 

Location: Environmentally controlled 

lab, Bldg. 220 

No Filter 

File: 8_22_99_laser.xls 

Test date: Aug. 2, 1999 

Interfero. Dist. 

(mm) 

Yllw, not shiny 

(m) 

Interfero. Dist. 

(mm) 

Grn, not shiny 

(m) 

Interfero. Dist. 

(mm) 

Grn, not shiny – 

recal. 

(m) 

0 4.463 0.00 4.448 0.00 4.451 

0 4.431 0.00 4.468 0.00 4.447 

0 4.407 0.00 4.448 0.00 4.431 

0 4.427 0.00 4.468 0.00 4.451 

0 4.427 0.00 4.448 0.00 4.447 

0 4.427 0.00 4.468 0.00 4.427 

0 4.407 0.00 4.468 0.00 4.411 

0 4.427 0.00 4.428 0.00 4.467 

0 4.447 0.00 4.468 0.00 4.431 

0 4.447 0.00 4.468 0.00 4.447 

0 4.387 0.00 4.448 0.00 4.447 

0 4.427 0.00 4.448 0.00 4.427 

0 4.427 0.00 4.468 0.00 4.447 

0 4.427 0.00 4.448 0.00 4.447 

0 4.427 0.00 4.448 0.00 4.447 

0 4.427 0.00 4.448 0.00 4.427 

0 4.407 0.00 4.468 0.00 4.467 

0 4.407 0.00 4.468 0.00 4.427 

0 4.407 0.00 4.428 0.00 4.427 

0 4.427 0.00 4.448 0.00 4.427 

0 4.407 0.00 4.448 0.00 4.447 

0 4.407 0.00 4.468 0.00 4.447 

0 4.387 0.00 4.428 0.00 4.447 

0 4.407 0.00 4.448 0.00 4.467 

0 4.407 0.00 4.448 2000.58 6.433 

2001.73 6.469 2000.88 6.450 2000.58 6.453 

2001.73 6.449 2000.88 6.450 2000.58 6.453 

2001.73 6.449 2000.88 6.470 2000.58 6.473 

2001.73 6.389 2000.88 6.450 2000.58 6.453 

2001.73 6.409 2000.88 6.490 2000.58 6.493 

2001.73 6.449 2000.88 6.450 2000.58 6.453 

2001.73 6.409 2000.88 6.490 2000.58 6.473 

2001.73 6.449 2000.88 6.470 2000.58 6.473 

2001.73 6.389 2000.88 6.430 2000.58 6.433 

2001.73 6.449 2000.88 6.490 2000.58 6.473 

2001.73 6.429 2000.88 6.490 2000.58 6.453 

2001.73 6.429 2000.88 6.490 2000.58 6.453 

2001.73 6.429 2000.88 6.470 2000.58 6.433 

2001.73 6.429 2000.88 6.450 2000.58 6.473 

2001.73 6.424 2000.88 6.490 2000.58 6.473 

2001.73 6.429 2000.88 6.450 2000.58 6.493 

2001.73 6.409 2000.88 6.470 2000.58 6.473 

2001.73 6.404 2000.88 6.510 2000.58 6.493 

2001.73 6.429 2000.88 6.490 2000.58 6.493 

2001.73 6.404 2000.88 6.470 2000.58 6.493 

2001.73 6.404 2000.88 6.490 2000.58 6.453 

2001.73 6.424 2000.88 6.490 2000.58 6.473 

2001.73 6.469 2000.88 6.470 2000.58 6.493 

2001.73 6.424 2000.88 6.490 2000.58 6.433 

2001.73 6.404 2000.88 6.470 2000.58 6.473 

4000.01 8.447 4000.17 8.473 4000.36 8.472 

4000.01 8.447 4000.17 8.453 4000.36 8.452 

4000.01 8.467 4000.17 8.473 4000.36 8.452 

4000.01 8.447 4000.17 8.433 4000.36 8.492 

4000.01 8.447 4000.17 8.493 4000.36 8.472 

4000.01 8.407 4000.17 8.493 4000.36 8.472 
 77

Table A.1 Data Set 1 - Relative Distance Calibration: 0 m to 60 m 

Location: Environmentally controlled lab, Bldg. 220 

No Filter 

File: rel_dist_anal.xls 

Test dates: July 14-15, 1999 

Location: Environmentally controlled 

lab, Bldg. 220 

No Filter 

File: 8_22_99_laser.xls 

Test date: Aug. 2, 1999 

Interfero. Dist. 

(mm) 

Yllw, not shiny 

(m) 

Interfero. Dist. 

(mm) 

Grn, not shiny 

(m) 

Interfero. Dist. 

(mm) 

Grn, not shiny – 

recal. 

(m) 

4000.01 8.447 4000.17 8.453 4000.36 8.472 

4000.01 8.467 4000.17 8.433 4000.36 8.452 

4000.01 8.427 4000.17 8.473 4000.36 8.472 

4000.01 8.467 4000.17 8.473 4000.36 8.472 

4000.01 8.447 4000.17 8.473 4000.36 8.452 

4000.01 8.427 4000.17 8.433 4000.36 8.472 

4000.01 8.447 4000.17 8.473 4000.36 8.472 

4000.01 8.427 4000.17 8.493 4000.36 8.432 

4000.01 8.447 4000.17 8.493 4000.36 8.492 

4000.01 8.447 4000.17 8.473 4000.36 8.472 

4000.01 8.427 4000.17 8.453 4000.36 8.452 

4000.01 8.407 4000.17 8.453 4000.36 8.472 

4000.01 8.427 4000.17 8.473 4000.36 8.432 

4000.01 8.427 4000.17 8.473 4000.36 8.472 

4000.01 8.447 4000.17 8.433 4000.36 8.512 

4000.01 8.447 4000.17 8.493 4000.36 8.472 

4000.01 8.467 4000.17 8.433 4000.36 8.472 

4000.01 8.407 4000.17 8.473 4000.36 8.492 

4000.01 8.407 4000.17 8.473 4000.36 8.452 

6000.09 10.430 6000.18 10.456 5999.05 10.475 

6000.09 10.450 6000.18 10.476 5999.05 10.490 

6000.09 10.470 6000.18 10.476 5999.05 10.470 

6000.09 10.450 6000.18 10.476 5999.05 10.450 

6000.09 10.430 6000.18 10.496 5999.05 10.470 

6000.09 10.410 6000.18 10.476 5999.05 10.490 

6000.09 10.430 6000.18 10.476 5999.05 10.510 

6000.09 10.450 6000.18 10.456 5999.05 10.490 

6000.09 10.430 6000.18 10.476 5999.05 10.470 

6000.09 10.450 6000.18 10.496 5999.05 10.430 

6000.09 10.450 6000.18 10.476 5999.05 10.490 

6000.09 10.450 6000.18 10.496 5999.05 10.490 

6000.09 10.450 6000.18 10.496 5999.05 10.450 

6000.09 10.450 6000.18 10.476 5999.05 10.450 

6000.09 10.470 6000.18 10.456 5999.05 10.490 

6000.09 10.430 6000.18 10.516 5999.05 10.510 

6000.09 10.470 6000.18 10.516 5999.05 10.450 

6000.09 10.390 6000.18 10.496 5999.05 10.470 

6000.09 10.430 6000.18 10.496 5999.05 10.430 

6000.09 10.430 6000.18 10.496 5999.05 10.490 

6000.09 10.410 6000.18 10.476 5999.05 10.490 

6000.09 10.470 6000.18 10.456 5999.05 10.490 

6000.09 10.390 6000.18 10.456 5999.05 10.450 

6000.09 10.430 6000.18 10.496 5999.05 10.470 

6000.09 10.430 6000.18 10.496 5999.05 10.490 

8000.24 12.453 8001.45 12.479 8000.17 12.493 

8000.24 12.453 8001.45 12.479 8000.17 12.488 

8000.24 12.433 8001.45 12.479 8000.17 12.468 

8000.24 12.433 8001.45 12.479 8000.17 12.488 

8000.24 12.433 8001.45 12.479 8000.17 12.488 

8000.24 12.428 8001.45 12.479 8000.17 12.468 

8000.24 12.413 8001.45 12.500 8000.17 12.488 

8000.24 12.433 8001.45 12.479 8000.17 12.468 

8000.24 12.453 8001.45 12.479 8000.17 12.488 

8000.24 12.433 8001.45 12.479 8000.17 12.468 

8000.24 12.433 8001.45 12.479 8000.17 12.468 

8000.24 12.448 8001.45 12.479 8000.17 12.488 

8000.24 12.413 8001.45 12.479 8000.17 12.488 
 78

Table A.1 Data Set 1 - Relative Distance Calibration: 0 m to 60 m 

Location: Environmentally controlled lab, Bldg. 220 

No Filter 

File: rel_dist_anal.xls 

Test dates: July 14-15, 1999 

Location: Environmentally controlled 

lab, Bldg. 220 

No Filter 

File: 8_22_99_laser.xls 

Test date: Aug. 2, 1999 

Interfero. Dist. 

(mm) 

Yllw, not shiny 

(m) 

Interfero. Dist. 

(mm) 

Grn, not shiny 

(m) 

Interfero. Dist. 

(mm) 

Grn, not shiny – 

recal. 

(m) 

8000.24 12.453 8001.45 12.479 8000.17 12.488 

8000.24 12.433 8001.45 12.479 8000.17 12.488 

8000.24 12.433 8001.45 12.479 8000.17 12.488 

8000.24 12.433 8001.45 12.459 8000.17 12.488 

8000.24 12.433 8001.45 12.479 8000.17 12.468 

8000.24 12.443 8001.45 12.479 8000.17 12.468 

8000.24 12.413 8001.45 12.479 8000.17 12.468 

8000.24 12.453 8001.45 12.479 8000.17 12.468 

8000.24 12.433 8001.45 12.479 8000.17 12.468 

8000.24 12.428 8001.45 12.479 8000.17 12.488 

8000.24 12.408 8001.45 12.479 8000.17 12.488 

8000.24 12.428 8001.45 12.479 8000.17 12.448 

9999.92 14.432 10000.87 14.463 10002.66 14.472 

9999.92 14.412 10000.87 14.463 10002.66 14.492 

9999.92 14.412 10000.87 14.463 10002.66 14.492 

9999.92 14.412 10000.87 14.443 10002.66 14.452 

9999.92 14.412 10000.87 14.483 10002.66 14.472 

9999.92 14.432 10000.87 14.483 10002.66 14.432 

9999.92 14.412 10000.87 14.443 10002.66 14.432 

9999.92 14.412 10000.87 14.463 10002.66 14.472 

9999.92 14.412 10000.87 14.463 10002.66 14.472 

9999.92 14.412 10000.87 14.463 10002.66 14.432 

9999.92 14.392 10000.87 14.463 10002.66 14.452 

9999.92 14.412 10000.87 14.483 10002.66 14.492 

9999.92 14.412 10000.87 14.483 10002.66 14.472 

9999.92 14.412 10000.87 14.483 10002.66 14.452 

9999.92 14.392 10000.87 14.463 10002.66 14.472 

9999.92 14.412 10000.87 14.483 10002.66 14.452 

9999.92 14.432 10000.87 14.483 10002.66 14.472 

9999.92 14.412 10000.87 14.463 10002.66 14.452 

9999.92 14.432 10000.87 14.463 10002.66 14.472 

9999.92 14.412 10000.87 14.483 10002.66 14.452 

9999.92 14.432 10000.87 14.483 10002.66 14.492 

9999.92 14.412 10000.87 14.483 10002.66 14.472 

9999.92 14.412 10000.87 14.423 10002.66 14.492 

9999.92 14.412 10000.87 14.463 10002.66 14.432 

9999.92 14.412 10000.87 14.463 10002.66 14.472 

14996.48 19.414 14998.16 19.445 14990.23 19.414 

14996.48 19.434 14998.16 19.405 14990.23 19.390 

14996.48 19.434 14998.16 19.405 14990.23 19.410 

14996.48 19.394 14998.16 19.405 14990.23 19.410 

14996.48 19.434 14998.16 19.445 14990.23 19.410 

14996.48 19.454 14998.16 19.445 14990.23 19.410 

14996.48 19.434 14998.16 19.405 14990.23 19.414 

14996.48 19.434 14998.16 19.425 14990.23 19.394 

14996.48 19.414 14998.16 19.445 14990.23 19.390 

14996.48 19.434 14998.16 19.445 14990.23 19.430 

14996.48 19.414 14998.16 19.425 14990.23 19.410 

14996.48 19.414 14998.16 19.445 14990.23 19.430 

14996.48 19.434 14998.16 19.425 14990.23 19.370 

14996.48 19.434 14998.16 19.445 14990.23 19.430 

14996.48 19.434 14998.16 19.445 14990.23 19.430 

14996.48 19.434 14998.16 19.405 14990.23 19.430 

14996.48 19.414 14998.16 19.405 14990.23 19.430 

14996.48 19.414 14998.16 19.465 14990.23 19.410 

14996.48 19.414 14998.16 19.405 14990.23 19.410 

14996.48 19.414 14998.16 19.385 14990.23 19.410 
 79

Table A.1 Data Set 1 - Relative Distance Calibration: 0 m to 60 m 

Location: Environmentally controlled lab, Bldg. 220 

No Filter 

File: rel_dist_anal.xls 

Test dates: July 14-15, 1999 

Location: Environmentally controlled 

lab, Bldg. 220 

No Filter 

File: 8_22_99_laser.xls 

Test date: Aug. 2, 1999 

Interfero. Dist. 

(mm) 

Yllw, not shiny 

(m) 

Interfero. Dist. 

(mm) 

Grn, not shiny 

(m) 

Interfero. Dist. 

(mm) 

Grn, not shiny – 

recal. 

(m) 

14996.48 19.434 14998.16 19.385 14990.23 19.410 

14996.48 19.454 14998.16 19.405 14990.23 19.430 

14996.48 19.434 14998.16 19.385 14990.23 19.394 

14996.48 19.454 14998.16 19.385 14990.23 19.370 

14996.48 19.434 14998.16 19.425 14990.23 19.390 

20010.77 24.434 20010.10 24.405 19990.03 24.390 

20010.77 24.434 20010.10 24.445 19990.03 24.410 

20010.77 24.434 20010.10 24.405 19990.03 24.390 

20010.77 24.434 20010.10 24.405 19990.03 24.390 

20010.77 24.434 20010.10 24.405 19990.03 24.390 

20010.77 24.434 20010.10 24.425 19990.03 24.390 

20010.77 24.454 20010.10 24.405 19990.03 24.390 

20010.77 24.434 20010.10 24.425 19990.03 24.390 

20010.77 24.454 20010.10 24.405 19990.03 24.390 

20010.77 24.474 20010.10 24.425 19990.03 24.410 

20010.77 24.454 20010.10 24.425 19990.03 24.430 

20010.77 24.454 20010.10 24.405 19990.03 24.370 

20010.77 24.454 20010.10 24.425 19990.03 24.410 

20010.77 24.434 20010.10 24.445 19990.03 24.390 

20010.77 24.454 20010.10 24.425 19990.03 24.390 

20010.77 24.545 20010.10 24.405 19990.03 24.370 

20010.77 24.454 20010.10 24.445 19990.03 24.410 

20010.77 24.454 20010.10 24.425 19990.03 24.370 

20010.77 24.434 20010.10 24.405 19990.03 24.410 

20010.77 24.414 20010.10 24.425 19990.03 24.410 

20010.77 24.454 20010.10 24.405 19990.03 24.410 

20010.77 24.454 20010.10 24.425 19990.03 24.410 

20010.77 24.434 20010.10 24.425 19990.03 24.410 

20010.77 24.454 20010.10 24.385 19990.03 24.390 

20010.77 24.454 20010.10 24.425 19990.03 24.390 

30006.01 34.450 30006.19 34.425 30524.89 34.970 

30006.01 34.430 30006.19 34.445 30524.89 34.950 

30006.01 34.445 30006.19 34.465 30524.89 34.950 

30006.01 34.425 30006.19 34.405 30524.89 34.930 

30006.01 34.425 30006.19 34.445 30524.89 34.950 

30006.01 34.445 30006.19 34.425 30524.89 34.950 

30006.01 34.485 30006.19 34.485 30524.89 34.970 

30006.01 34.445 30006.19 34.425 30524.89 34.970 

30006.01 34.465 30006.19 34.425 30524.89 34.950 

30006.01 34.465 30006.19 34.425 30524.89 34.990 

30006.01 34.465 30006.19 34.425 30524.89 34.970 

30006.01 34.445 30006.19 34.425 30524.89 34.970 

30006.01 34.465 30006.19 34.465 30524.89 34.990 

30006.01 34.465 30006.19 34.425 30524.89 34.970 

30006.01 34.445 30006.19 34.445 30524.89 34.930 

30006.01 34.445 30006.19 34.445 30524.89 35.010 

30006.01 34.445 30006.19 34.425 30524.89 34.930 

30006.01 34.445 30006.19 34.425 30524.89 34.950 

30006.01 34.465 30006.19 34.425 30524.89 34.950 

30006.01 34.465 30006.19 34.445 30524.89 34.930 

30006.01 34.465 30006.19 34.405 30524.89 34.950 

30006.01 34.405 30006.19 34.445 30524.89 34.950 

30006.01 34.445 30006.19 34.465 30524.89 34.990 

30006.01 34.465 30006.19 34.445 30524.89 35.010 

30006.01 34.425 30006.19 34.385 30524.89 34.950 

39994.27 44.385 39994.04 44.445 0.00 4.513 

39994.27 44.365 39994.04 44.405 0.00 4.513 
 80

Table A.1 Data Set 1 - Relative Distance Calibration: 0 m to 60 m 

Location: Environmentally controlled lab, Bldg. 220 

No Filter 

File: rel_dist_anal.xls 

Test dates: July 14-15, 1999 

Location: Environmentally controlled 

lab, Bldg. 220 

No Filter 

File: 8_22_99_laser.xls 

Test date: Aug. 2, 1999 

Interfero. Dist. 

(mm) 

Yllw, not shiny 

(m) 

Interfero. Dist. 

(mm) 

Grn, not shiny 

(m) 

Interfero. Dist. 

(mm) 

Grn, not shiny – 

recal. 

(m) 

39994.27 44.405 39994.04 44.425 0.00 4.493 

39994.27 44.405 39994.04 44.445 0.00 4.513 

39994.27 44.405 39994.04 44.465 0.00 4.473 

39994.27 44.365 39994.04 44.405 0.00 4.493 

39994.27 44.405 39994.04 44.465 0.00 4.473 

39994.27 44.405 39994.04 44.465 0.00 4.493 

39994.27 44.425 39994.04 44.405 0.00 4.493 

39994.27 44.405 39994.04 44.445 0.00 4.493 

39994.27 44.385 39994.04 44.465 0.00 4.513 

39994.27 44.365 39994.04 44.425 0.00 4.493 

39994.27 44.405 39994.04 44.445 0.00 4.513 

39994.27 44.435 39994.04 44.405 0.00 4.513 

39994.27 44.405 39994.04 44.405 0.00 4.493 

39994.27 44.365 39994.04 44.445 0.00 4.493 

39994.27 44.405 39994.04 44.445 0.00 4.493 

39994.27 44.405 39994.04 44.405 0.00 4.493 

39994.27 44.465 39994.04 44.405 0.00 4.493 

39994.27 44.485 39994.04 44.385 0.00 4.493 

39994.27 44.405 39994.04 44.385 0.00 4.493 

39994.27 44.405 39994.04 44.465 0.00 4.493 

39994.27 44.385 39994.04 44.425 0.00 4.513 

39994.27 44.385 39994.04 44.445 0.00 4.493 

39994.27 44.405 39994.04 44.405 0.00 4.513 

49952.25 54.325 49988.89 54.445 40112.49 44.570 

49952.25 54.305 49988.89 54.465 40112.49 44.585 

49952.25 54.305 49988.89 54.465 40112.49 44.525 

49952.25 54.325 49988.89 54.485 40112.49 44.585 

49952.25 54.365 49988.89 54.405 40112.49 44.585 

49952.25 54.325 49988.89 54.505 40112.49 44.550 

49952.25 54.405 49988.89 54.385 40112.49 44.565 

49952.25 54.285 49988.89 54.465 40112.49 44.605 

49952.25 54.305 49988.89 54.425 40112.49 44.565 

49952.25 54.285 49988.89 54.425 40112.49 44.565 

49952.25 54.305 49988.89 54.485 40112.49 44.585 

49952.25 54.365 49988.89 54.485 40112.49 44.585 

49952.25 54.305 49988.89 54.465 40112.49 44.585 

49952.25 54.325 49988.89 54.465 40112.49 44.605 

49952.25 54.285 49988.89 54.465 40112.49 44.570 

49952.25 54.325 49988.89 54.405 40112.49 44.605 

49952.25 54.385 49988.89 54.505 40112.49 44.590 

49952.25 54.305 49988.89 54.445 40112.49 44.625 

49952.25 54.325 49988.89 54.465 40112.49 44.565 

49952.25 54.305 49988.89 54.505 40112.49 44.610 

49952.25 54.305 49988.89 54.445 40112.49 44.565 

49952.25 54.325 49988.89 54.465 40112.49 44.630 

49952.25 54.325 49988.89 54.445 40112.49 44.590 

49952.25 54.345 49988.89 54.425 40112.49 44.585 

49952.25 54.305 49988.89 54.425 40112.49 44.625 

 49066.14 53.585 

 49066.14 53.585 

 49066.14 53.565 

 49066.14 53.545 

 49066.14 53.505 

 49066.14 53.585 

 49066.14 53.545 

 49066.14 53.565 

 49066.14 53.605 
 81

Table A.1 Data Set 1 - Relative Distance Calibration: 0 m to 60 m 

Location: Environmentally controlled lab, Bldg. 220 

No Filter 

File: rel_dist_anal.xls 

Test dates: July 14-15, 1999 

Location: Environmentally controlled 

lab, Bldg. 220 

No Filter 

File: 8_22_99_laser.xls 

Test date: Aug. 2, 1999 

Interfero. Dist. 

(mm) 

Yllw, not shiny 

(m) 

Interfero. Dist. 

(mm) 

Grn, not shiny 

(m) 

Interfero. Dist. 

(mm) 

Grn, not shiny – 

recal. 

(m) 

 49066.14 53.605 

 49066.14 53.545 

 49066.14 53.645 

 49066.14 53.565 

 49066.14 53.605 

 49066.14 53.625 

 49066.14 53.625 

 49066.14 53.565 

 49066.14 53.565 

 49066.14 53.545 

 49066.14 53.565 

 49066.14 53.565 

 49066.14 53.545 

 49066.14 53.565 

 49066.14 53.565 

 49066.14 53.525 
 82

APPENDIX B – Absolute Distance Measurements 

Table B.1 Data Set 2 - Absolute Distance Calibration, 30 m and 60 m 

Location: Environmentally controlled lab, Bldg. 220 File: abs_dist.xls

No Filter 

Test date: July 22, 1999 

Distance 

(m) 

Laser (m) 

Run 1 

Laser (m) 

Run 2 

Distance 

(m) 

Laser 

(m) 

30.48 30.430 30.474 60.96 61.005 

30.48 30.430 30.474 60.96 60.985 

30.48 30.450 30.454 60.96 61.045 

30.48 30.470 30.490 60.96 61.045 

30.48 30.450 30.474 60.96 61.025 

30.48 30.470 30.474 60.96 60.985 

30.48 30.430 30.450 60.96 61.065 

30.48 30.430 30.470 60.96 61.045 

30.48 30.470 30.470 60.96 61.045 

30.48 30.490 30.454 60.96 61.025 

30.48 30.470 30.470 60.96 61.045 

30.48 30.450 30.470 60.96 61.025 

30.48 30.470 30.494 60.96 61.025 

30.48 30.470 30.450 60.96 60.985 

30.48 30.470 30.470 60.96 61.045 

30.48 30.470 30.490 60.96 61.025 

30.48 30.490 30.434 60.96 61.065 

30.48 30.450 30.450 60.96 61.045 

30.48 30.470 30.470 60.96 61.045 

30.48 30.470 30.450 60.96 61.005 

30.48 30.470 30.470 60.96 61.045 

30.48 30.470 30.454 60.96 60.985 

30.48 30.470 30.454 60.96 61.005 

30.48 30.470 30.470 60.96 61.045 

30.48 30.410 30.470 60.96 61.025 

Table B.2 Data Set 3 - Absolute Distance Calibration, 60 m to 108 m 

Location: Attic, Bldg. 226 

No Filter 

File: 100mcalib.xls 

Test Date: July 28, 1999 

Location: Attic, Bldg. 226 

No Filter 

File: 108m_calib.xls 

Test Date: August 2, 1999 

Tape Distance 

(m) 

Wht, not shiny 

(m) 

Tape Distance 

(m) 

Wht., not shiny 

(m) 

60 60.066 108.00 108.019 

60 59.986 108.00 108.019 

60 60.066 108.00 108.054 

60 60.046 108.00 108.054 

60 60.026 108.00 108.039 

60 60.026 108.00 108.014 

60 60.026 108.00 108.014 

60 60.046 108.00 108.034 

60 60.046 108.00 108.074 

60 60.006 108.00 108.054 

60 60.046 108.00 108.034 

60 60.066 108.00 108.014 

60 60.026 108.00 108.014 

60 60.066 108.00 108.034 

60 60.046 108.00 108.034 

60 60.026 108.00 108.034 
 83

Table B.2 Data Set 3 - Absolute Distance Calibration, 60 m to 108 m 

Location: Attic, Bldg. 226 

No Filter 

File: 100mcalib.xls 

Test Date: July 28, 1999 

Location: Attic, Bldg. 226 

No Filter 

File: 108m_calib.xls 

Test Date: August 2, 1999 

Tape Distance 

(m) 

Wht, not shiny 

(m) 

Tape Distance 

(m) 

Wht., not shiny 

(m) 

60 60.046 108.00 108.054 

60 60.046 108.00 108.074 

60 60.026 108.00 108.034 

60 60.022 108.00 108.014 

60 60.022 108.00 108.074 

60 60.022 108.00 108.014 

60 60.042 108.00 108.054 

60 60.022 108.00 108.054 

60 60.046 108.00 108.034 

80 79.982 100.00 99.954 

80 80.002 100.00 100.010 

80 80.002 100.00 99.970 

80 80.002 100.00 100.030 

80 80.022 100.00 100.010 

80 80.062 100.00 100.010 

80 80.002 100.00 99.990 

80 80.062 100.00 99.970 

80 80.022 100.00 99.950 

80 80.042 100.00 99.970 

80 80.042 100.00 100.005 

80 80.042 100.00 99.985 

80 80.042 100.00 99.965 

80 80.082 100.00 100.005 

80 80.042 100.00 100.005 

80 80.062 100.00 99.985 

80 80.062 100.00 100.025 

80 80.022 100.00 100.005 

80 79.982 100.00 100.025 

80 80.042 100.00 100.025 

80 80.042 100.00 100.005 

80 80.042 100.00 99.985 

80 80.022 100.00 99.945 

80 80.082 100.00 100.005 

80 80.062 100.00 99.985 

100 100.062 

100 100.122 

100 100.182 

100 100.162 

100 100.162 

100 100.182 

100 100.102 

100 100.142 

100 100.062 

100 100.162 

100 100.162 

100 100.102 

100 100.102 

100 100.162 

100 100.162 

100 100.142 

100 100.142 

100 100.122 

100 100.102 
 84

Table B.2 Data Set 3 - Absolute Distance Calibration, 60 m to 108 m 

Location: Attic, Bldg. 226 

No Filter 

File: 100mcalib.xls 

Test Date: July 28, 1999 

Location: Attic, Bldg. 226 

No Filter 

File: 108m_calib.xls 

Test Date: August 2, 1999 

Tape Distance 

(m) 

Wht, not shiny 

(m) 

Tape Distance 

(m) 

Wht., not shiny 

(m) 

100 100.082 

100 100.182 

100 100.062 

100 100.122 

100 100.102 

100 100.142 

108† 109.182 

108 109.182 

108 109.177 

108 109.157 

108 109.157 

108 109.197 

108 109.137 

108 109.217 

108 109.157 

108 109.197 

108 109.157 

108 109.177 

108 109.157 

108 109.197 

108 109.197 

108 109.177 

108 109.177 

108 109.177 

108 109.137 

108 109.117 

108 109.197 

108 109.197 

108 109.137 

108 109.117 

108 109.137 

Note: 

†

 Laser hit wall behind target. Data disregarded. 
 85

Table B.3 Data Set 4 - Absolute Distance Calibration: 5 m to 161 m 

Location: Hallway from Bldg. 226 to Comstar Black and Green Targets -File: 5mto160m_8_10_99.xls 

Test date: August 6, 1999 – white target 

 August 10, 1999 – green and black targets 

White Target – File: 5to160m_8_6_99.xls 

 Without Filter With Filter 

Distance 

(m) 

Blk not shny 

(m) 

Grn not shny 

(m) 

Distance 

(m) 

Blk, not shny 

(m) 

Grn. not shny 

(m) 

Wht not shny 

(m) 

161.079 161.039 161.104 161.0790 NA NA 161.134 

161.079 161.159 161.204 161.0790 NA NA 161.474 

161.079 161.159 161.104 161.0790 NA NA 161.094 

161.079 160.979 161.004 161.0790 NA NA 161.074 

161.079 161.019 161.304 161.0790 NA NA 161.034 

161.079 161.019 161.184 161.0790 NA NA 162.034 

161.079 161.199 161.204 161.0790 NA NA 161.854 

161.079 161.139 161.124 161.0790 NA NA 161.594 

161.079 160.999 161.244 161.0790 NA NA 161.794 

161.079 161.099 161.244 161.0790 NA NA 161.150 

141.059 141.145 140.990 151.071 151.219 151.179 151.130 

141.059 141.085 140.945 151.071 151.159 151.239 151.110 

141.059 141.045 140.985 151.071 151.419 151.059 151.150 

141.059 141.085 140.965 151.071 151.039 151.239 151.110 

141.059 141.105 140.945 151.071 151.419 151.159 151.030 

141.059 141.125 140.985 151.071 151.299 151.199 151.070 

141.059 141.110 141.045 151.071 151.219 151.099 151.150 

141.059 141.210 141.085 151.071 151.559 151.179 151.110 

141.059 141.105 141.045 151.071 151.259 151.259 151.070 

141.059 141.170 141.025 151.071 151.219 151.074 151.150 

120.000 120.065 119.965 141.059 141.294 141.054 141.070 

120.000 120.105 119.965 141.059 141.094 141.149 141.085 

120.000 120.105 119.985 141.059 141.174 140.994 141.165 

120.000 120.065 119.965 141.059 141.294 141.114 141.085 

120.000 120.045 119.945 141.059 141.394 141.114 141.065 

120.000 120.105 119.965 141.059 141.294 141.174 141.085 

120.000 120.065 119.965 141.059 141.194 141.074 141.085 

120.000 120.125 119.965 141.059 141.294 141.154 141.045 

120.000 120.065 120.165 141.059 141.234 141.034 141.105 

120.000 120.025 119.985 141.059 141.334 141.434 141.165 

79.990 80.010 80.070 129.989 130.074 129.234 130.045 

79.990 79.970 80.025 129.989 129.994 129.934 130.045 

79.990 80.025 80.010 129.989 129.974 130.014 130.025 

79.990 80.010 80.025 129.989 130.114 130.014 129.985 

79.990 80.030 80.050 129.989 129.974 129.974 130.005 

79.990 80.010 80.025 129.989 130.054 130.014 130.045 

79.990 80.030 80.025 129.989 129.934 130.054 130.085 

79.990 79.990 80.070 129.989 129.994 130.074 129.965 

79.990 80.005 80.045 129.989 129.994 129.954 130.045 

79.990 79.990 80.010 129.989 129.874 130.094 130.045 

60.596 60.565 60.630 120.000 119.994 120.054 120.000 

60.596 60.585 60.625 120.000 120.030 120.050 120.020 

60.596 60.545 60.605 120.000 120.094 120.054 120.000 

60.596 60.565 60.625 120.000 119.950 120.054 120.040 

60.596 60.585 60.665 120.000 120.010 120.030 120.020 

60.596 60.525 60.605 120.000 120.014 120.114 120.000 

60.596 60.505 60.625 120.000 119.990 120.054 119.980 

60.596 60.545 60.605 120.000 120.070 120.014 120.000 

60.596 60.585 60.625 120.000 120.110 120.014 120.040 

60.596 60.565 60.625 120.000 119.950 120.034 120.040 

50.425 50.405 50.445 120.000 NA NA 120.080 

50.425 50.425 50.445 120.000 NA NA 120.040 

50.425 50.425 50.425 120.000 NA NA 120.020 

50.425 50.425 50.445 120.000 NA NA 120.040 

50.425 50.425 50.465 120.000 NA NA 120.020 

50.425 50.385 50.425 120.000 NA NA 120.040 

50.425 50.425 50.425 120.000 NA NA 120.040 

50.425 50.405 50.425 120.000 NA NA 120.020 

50.425 50.425 50.445 120.000 NA NA 119.980 
 86

Table B.3 Data Set 4 - Absolute Distance Calibration: 5 m to 161 m 

Location: Hallway from Bldg. 226 to Comstar Black and Green Targets -File: 5mto160m_8_10_99.xls 

Test date: August 6, 1999 – white target 

 August 10, 1999 – green and black targets 

White Target – File: 5to160m_8_6_99.xls 

 Without Filter With Filter 

Distance 

(m) 

Blk not shny 

(m) 

Grn not shny 

(m) 

Distance 

(m) 

Blk, not shny 

(m) 

Grn. not shny 

(m) 

Wht not shny 

(m) 

50.425 50.425 50.425 120.000 NA NA 120.020 

39.998 40.005 39.985 109.990 110.090 109.950 110.020 

39.998 40.045 40.025 109.990 109.990 110.050 110.060 

39.998 40.020 40.025 109.990 110.070 110.050 110.060 

39.998 40.060 40.025 109.990 110.010 109.990 110.040 

39.998 40.020 40.025 109.990 109.970 110.050 110.020 

39.998 40.000 40.025 109.990 109.990 110.070 110.020 

39.998 40.060 40.025 109.990 110.090 109.970 110.040 

39.998 40.020 40.025 109.990 110.050 110.030 110.080 

39.998 40.000 40.025 109.990 110.050 110.030 110.040 

39.998 40.000 40.045 109.990 109.990 110.030 110.080 

30.097 30.140 30.120 99.993 99.990 100.010 100.056 

30.097 30.140 30.100 99.993 100.010 100.030 100.056 

30.097 30.120 30.120 99.993 100.010 99.970 100.056 

30.097 30.140 30.120 99.993 100.030 100.010 100.076 

30.097 30.180 30.120 99.993 100.050 100.030 100.056 

30.097 30.140 30.120 99.993 100.050 100.010 100.096 

30.097 30.140 30.140 99.993 100.030 99.970 100.016 

30.097 30.120 30.140 99.993 100.070 100.010 100.076 

30.097 30.160 30.120 99.993 100.010 100.030 100.076 

30.097 30.140 30.120 99.993 100.010 100.010 100.076 

19.975 20.020 19.985 79.990 80.025 80.005 80.011 

19.975 20.040 19.985 79.990 79.945 80.005 80.031 

19.975 20.020 20.005 79.990 80.050 80.005 79.991 

19.975 20.005 19.965 79.990 80.010 80.050 80.011 

19.975 20.045 20.005 79.990 80.005 79.970 80.031 

19.975 19.985 19.985 79.990 80.030 79.985 80.011 

19.975 20.045 20.005 79.990 80.090 80.010 80.011 

19.975 20.045 20.005 79.990 79.970 80.010 79.991 

19.975 20.020 19.985 79.990 79.970 79.985 80.011 

19.975 20.045 19.985 79.990 80.050 79.965 80.051 

10.002 10.047 10.031 60.596 60.605 60.585 60.631 

10.002 10.067 10.011 60.596 60.605 60.585 60.611 

10.002 10.027 9.991 60.596 60.665 60.605 60.611 

10.002 10.067 10.031 60.596 60.645 60.550 60.551 

10.002 10.067 10.011 60.596 60.665 60.605 60.591 

10.002 10.047 10.031 60.596 60.665 60.605 60.611 

10.002 10.007 10.031 60.596 60.625 60.585 60.611 

10.002 10.047 10.011 60.596 60.645 60.545 60.651 

10.002 10.047 10.031 60.596 60.625 60.565 60.611 

10.002 10.067 10.031 60.596 60.645 60.585 60.611 

5.009 5.040 5.000 50.425 50.485 50.445 50.471 

5.009 5.040 5.000 50.425 50.485 50.465 50.471 

5.009 5.040 5.020 50.425 50.465 50.425 50.451 

5.009 5.060 5.004 50.425 50.425 50.465 50.471 

5.009 5.040 5.040 50.425 50.465 50.425 50.431 

5.009 5.020 5.000 50.425 50.385 50.465 50.451 

5.009 5.020 5.000 50.425 50.445 50.445 50.471 

5.009 5.040 5.020 50.425 50.425 50.465 50.451 

5.009 5.040 4.979 50.425 50.485 50.465 50.471 

5.009 5.040 5.020 50.425 50.465 50.465 50.491 

 39.998 40.025 40.045 40.031 

 39.998 40.025 40.045 40.031 

 39.998 40.045 40.045 40.051 

 39.998 40.005 40.025 40.031 

 39.998 40.025 40.025 40.031 

 39.998 40.025 40.045 40.011 

 39.998 40.045 40.045 40.031 

 39.998 40.060 40.045 40.051 

 39.998 40.025 40.040 40.011 

 39.998 40.045 40.045 40.051 
 87

Table B.3 Data Set 4 - Absolute Distance Calibration: 5 m to 161 m 

Location: Hallway from Bldg. 226 to Comstar Black and Green Targets -File: 5mto160m_8_10_99.xls 

Test date: August 6, 1999 – white target 

 August 10, 1999 – green and black targets 

White Target – File: 5to160m_8_6_99.xls 

 Without Filter With Filter 

Distance 

(m) 

Blk not shny 

(m) 

Grn not shny 

(m) 

Distance 

(m) 

Blk, not shny 

(m) 

Grn. not shny 

(m) 

Wht not shny 

(m) 

 30.097 30.100 30.140 30.151 

 30.097 30.080 30.120 30.151 

 30.097 30.120 30.160 30.151 

 30.097 30.080 30.140 30.131 

 30.097 30.060 30.120 30.131 

 30.097 30.160 30.120 30.131 

 30.097 30.140 30.140 30.171 

 30.097 30.120 30.160 30.151 

 30.097 30.120 30.160 30.171 

 30.097 30.100 30.140 30.171 

 19.975 19.985 20.025 19.991 

 19.975 19.980 20.025 20.031 

 19.975 19.980 20.025 19.971 

 19.975 19.965 20.025 20.031 

 19.975 19.985 20.025 20.011 

 19.975 19.965 20.005 20.011 

 19.975 19.965 20.025 20.011 

 19.975 19.945 20.025 19.991 

 19.975 19.985 19.985 20.031 

 19.975 19.985 20.045 20.011 

 10.002 9.966 10.051 10.010 

 10.002 9.966 10.051 10.015 

 10.002 9.966 10.051 10.035 

 10.002 9.966 10.051 10.055 

 10.002 10.007 10.051 10.035 

 10.002 9.986 10.051 10.055 

 10.002 9.986 10.051 10.015 

 10.002 10.027 10.011 10.055 

 10.002 10.007 10.011 10.050 

 10.002 10.007 10.011 10.055 

 5.009 4.959 5.040 5.026 

 5.009 4.979 5.040 4.997 

 5.009 4.959 5.020 4.997 

 5.009 5.000 5.040 5.037 

 5.009 4.979 5.040 5.017 

 5.009 5.000 5.040 5.017 

 5.009 5.000 5.000 5.012 

 5.009 4.979 5.040 5.012 

 5.009 4.959 5.040 4.971 

 5.009 5.000 5.040 5.012 
 88

Table B.4 Data Set 5 - Absolute Distance Calibration: 10 m to 150 m 

Location: Tunnel, Bldg. 101 File: calib_form_4_28_01.xls

No Filter

Test date: April 28, 2001 

 3M Long Distance Performance (LDP) 

 Black White Silver, shiny 0o 45o 60o 

Distance 

(m) 

Laser Dist 

(m) 

Inten. Laser Dist. 

(m) 

Inten. Laser Dist. 

(m) 

Inten. Laser Dist.

(m) 

Inten. Laser Dist. 

(m) 

Inten. Laser Dist.

(m) 

Inten.

9.997 10.023 80 10.007 156 9.977 206 10.173 228 10.009 208 10.044 182 

9.997 9.957 80 9.986 156 9.972 206 10.169 236 9.968 208 10.024 182 

9.997 10.018 80 10.007 156 9.952 206 10.109 226 9.983 208 9.963 182 

9.997 9.957 80 9.946 156 9.912 206 10.129 228 9.983 208 10.024 182 

9.997 9.998 80 9.966 156 9.972 206 10.109 226 9.983 208 10.044 182 

9.997 9.998 80 9.942 156 10.013 204 10.149 230 10.004 208 9.983 182 

9.997 9.998 80 9.982 156 9.972 206 10.169 230 9.943 208 10.024 182 

9.997 9.977 80 10.023 156 9.972 206 10.109 224 10.004 208 10.024 182 

9.997 9.988 80 10.003 156 9.932 204 10.189 230 9.963 208 10.024 182 

9.997 10.018 80 9.982 156 9.972 204 10.129 228 9.943 208 10.044 182 

19.991 20.024 82 19.999 152 19.999 206 20.153 230 20.084 190 20.144 162 

19.991 19.984 82 19.999 152 19.939 206 20.108 224 20.064 190 20.164 162 

19.991 20.004 84 19.959 152 19.959 206 20.164 232 20.064 190 20.124 162 

19.991 19.984 82 19.959 152 19.939 206 20.124 226 20.064 190 20.164 162 

19.991 20.004 84 19.939 152 19.979 206 20.124 224 20.064 190 20.104 162 

19.991 20.004 82 19.979 152 19.959 206 20.104 224 20.064 190 20.184 162 

19.991 20.004 82 19.999 152 19.959 206 20.144 230 20.084 190 20.124 162 

19.991 20.004 82 19.979 152 19.979 206 20.164 234 20.064 190 20.164 162 

19.991 19.964 82 19.959 152 19.959 206 20.144 230 20.064 190 20.124 160 

19.991 20.004 82 19.979 152 19.979 206 20.144 232 20.084 190 20.164 162 

29.986 29.914 70 29.954 140 29.954 192 30.074 232 29.974 202 30.014 172 

29.986 29.934 70 29.934 140 29.974 192 30.094 224 29.954 200 29.970 172 

29.986 29.914 70 29.934 140 29.974 192 30.094 228 29.954 200 29.974 172 

29.986 29.894 70 29.974 140 29.934 192 30.054 224 29.934 202 29.970 172 

29.986 29.954 70 29.974 140 29.974 192 30.094 224 29.930 202 29.990 172 

29.986 29.914 70 29.974 140 29.974 192 30.074 226 29.914 200 29.990 172 

29.986 29.934 70 29.974 140 29.974 192 30.074 228 29.954 202 29.950 172 

29.986 29.934 70 29.934 140 29.974 192 30.094 232 29.914 202 29.990 172 

29.986 29.934 70 29.974 140 29.954 192 30.054 224 29.934 200 29.994 172 

29.986 29.934 70 29.994 140 29.954 192 30.094 224 29.934 200 29.990 172 

39.988 39.95 62 39.97 124 39.97 192 40.03 226 39.970 196 40.010 164 

39.988 39.97 60 39.99 124 39.93 192 40.03 226 39.950 196 39.965 164 

39.988 39.93 60 40.01 124 39.99 192 40.05 224 39.950 196 39.970 164 

39.988 39.97 62 40.01 124 39.93 192 40.05 224 39.950 196 40.010 164 

39.988 39.95 62 39.99 124 39.99 192 40.03 226 39.970 196 39.970 164 

39.988 39.95 60 39.99 124 39.97 192 40.03 228 39.950 196 40.010 164 

39.988 39.99 60 40.01 124 39.95 192 40.05 222 39.970 196 39.990 164 

39.988 39.93 60 39.99 124 39.99 194 40.03 226 39.930 196 39.990 164 

39.988 39.93 60 39.99 124 39.93 192 40.05 226 39.970 196 40.005 164 

39.988 39.95 60 40.01 124 39.93 192 40.03 222 39.970 196 39.950 164 

49.981 49.99 52 49.965 112 49.945 188 50.01 222 49.925 190 49.945 130 

49.981 49.965 52 49.965 112 49.985 188 49.985 222 49.945 190 49.965 130 

49.981 49.985 52 49.985 112 49.965 188 50.005 222 49.945 190 49.945 130 

49.981 49.985 52 50.005 112 49.925 188 50.005 222 49.945 190 49.950 130 

49.981 49.925 54 50.005 112 49.985 188 50.005 222 49.945 190 49.905 130 

49.981 50.005 54 49.965 112 49.985 188 49.965 222 49.905 190 49.945 130 

49.981 49.985 54 49.965 112 49.985 188 50.005 222 49.945 190 49.945 130 

49.981 50.025 54 50.005 112 49.945 188 50.005 222 49.905 190 49.945 130 

49.981 49.985 52 49.965 112 49.985 188 49.965 222 49.945 190 49.945 130 

49.981 49.985 52 50.005 112 49.945 188 49.985 222 49.925 190 49.905 130 

59.977 59.99 48 59.97 102 59.97 182 59.99 218 59.865 186 59.925 146 

59.977 60.05 48 60.01 102 59.97 182 59.985 220 59.885 186 59.905 146 

59.977 60.01 48 59.99 102 59.95 182 59.985 218 59.905 188 59.865 146 

59.977 59.95 48 59.99 102 59.99 182 59.985 218 59.905 186 59.905 146 

59.977 59.99 48 59.95 102 59.97 182 59.965 218 59.865 186 59.905 146 

59.977 60.01 48 60.01 102 59.93 182 59.925 218 59.905 186 59.925 146 

59.977 59.95 46 60.03 102 59.97 182 59.945 218 59.905 186 59.885 146 
 89

Table B.4 Data Set 5 - Absolute Distance Calibration: 10 m to 150 m 

Location: Tunnel, Bldg. 101 File: calib_form_4_28_01.xls

No Filter

Test date: April 28, 2001 

 3M Long Distance Performance (LDP) 

 Black White Silver, shiny 0o 45o 60o 

Distance 

(m) 

Laser Dist 

(m) 

Inten. Laser Dist. 

(m) 

Inten. Laser Dist. 

(m) 

Inten. Laser Dist.

(m) 

Inten. Laser Dist. 

(m) 

Inten. Laser Dist.

(m) 

Inten.

59.977 59.99 48 60.01 102 59.97 182 59.985 220 59.905 186 59.865 146 

59.977 59.99 48 59.99 102 59.97 182 59.965 218 59.905 186 59.905 146 

59.977 59.99 48 59.97 102 59.97 182 59.985 218 59.905 186 59.905 146 

69.971 69.985 42 69.985 94 69.945 178 69.965 216 69.945 186 69.925 140 

69.971 69.985 42 69.965 94 69.985 178 69.925 216 69.945 186 69.885 138 

69.971 70.005 42 69.965 94 69.965 178 69.985 216 69.945 186 69.945 140 

69.971 69.985 42 69.985 94 69.965 178 69.965 216 69.925 186 69.945 140 

69.971 69.985 42 69.985 94 69.965 178 69.925 216 69.945 186 69.925 140 

69.971 69.985 42 69.965 94 69.925 178 69.965 216 69.945 186 69.925 138 

69.971 70.025 42 69.965 94 69.945 178 69.965 216 69.945 186 69.885 140 

69.971 69.945 42 69.985 94 69.965 178 69.985 216 69.905 186 69.905 140 

69.971 69.945 44 70.005 94 69.965 178 69.965 216 69.925 184 69.905 140 

69.971 69.985 42 69.985 94 69.965 178 69.945 216 69.905 186 69.925 140 

79.967 79.985 40 79.965 86 79.965 182 79.965 214 79.865 184 79.925 120 

79.967 80.025 38 79.965 86 79.965 184 79.945 214 79.845 184 79.885 120 

79.967 79.925 40 79.985 88 79.885 182 79.945 214 79.845 184 79.905 122 

79.967 80.005 40 79.985 86 79.945 182 79.965 214 79.885 184 79.945 122 

79.967 79.945 40 79.965 86 79.965 184 79.965 214 79.885 184 79.945 120 

79.967 79.965 40 80.025 88 79.965 182 79.905 214 79.905 184 79.925 120 

79.967 80.005 38 80.025 88 79.905 182 79.965 214 79.845 184 79.925 122 

79.967 79.965 40 79.965 86 79.965 182 79.945 214 79.865 184 79.945 122 

79.967 79.985 38 79.965 86 79.945 182 79.965 214 79.865 184 79.885 120 

79.967 80.025 40 79.985 88 79.945 182 79.985 214 79.905 184 79.945 122 

89.961 89.973 38 89.982 84 89.942 184 89.893 212 89.868 184 89.928 112 

89.961 89.938 38 89.958 84 89.922 182 89.893 214 89.828 184 89.988 112 

89.961 89.993 38 89.938 84 89.962 182 89.888 214 89.828 184 89.968 112 

89.961 89.953 38 89.998 84 89.942 182 89.933 214 89.868 184 89.968 112 

89.961 89.933 38 89.978 84 89.902 182 89.933 214 89.888 184 89.968 112 

89.961 89.973 40 89.958 84 89.942 182 89.908 214 89.868 184 89.968 112 

89.961 89.953 38 89.978 84 89.922 184 89.933 214 89.868 184 89.968 112 

89.961 89.973 38 89.978 84 89.942 182 89.948 214 89.848 184 89.968 112 

89.961 89.993 38 89.978 84 89.942 184 89.948 214 89.828 184 89.968 112 

89.961 89.953 38 89.958 84 89.902 184 89.888 214 89.868 184 89.988 112 

99.955 99.964 34 99.919 78 99.944 184 99.928 210 99.864 182 99.964 102 

99.955 99.984 34 99.979 78 99.939 184 99.924 210 99.864 182 99.964 102 

99.955 99.944 36 99.959 78 99.939 184 99.884 210 99.864 182 99.924 102 

99.955 99.964 36 99.959 78 99.959 184 99.924 212 99.864 182 99.984 102 

99.955 100.004 36 99.959 78 99.919 184 99.884 210 99.844 182 99.984 102 

99.955 99.964 36 99.919 78 99.939 184 99.904 210 99.864 182 99.964 102 

99.955 99.924 36 99.959 80 99.959 184 99.944 210 99.864 182 99.964 102 

99.955 100.004 36 99.959 78 99.939 184 99.944 210 99.864 182 99.964 102 

99.955 100.044 36 99.959 78 99.939 184 99.924 210 99.864 182 99.984 102 

99.955 99.984 36 99.959 78 99.899 184 99.884 210 99.824 182 99.944 102 

109.949 109.959 34 109.939 74 109.954 176 109.914 208 109.854 180 109.914 98 

109.949 109.879 34 109.934 74 109.874 174 109.984 208 109.854 180 109.934 98 

109.949 109.979 34 109.934 76 109.914 174 109.934 208 109.874 180 109.954 98 

109.949 109.914 34 109.934 76 109.954 174 109.914 208 109.834 180 109.954 98 

109.949 109.919 34 109.934 74 109.894 176 109.934 208 109.854 180 109.954 98 

109.949 109.854 34 109.934 76 109.934 174 109.914 208 109.874 180 109.974 98 

109.949 109.959 34 109.894 74 109.934 174 109.934 208 109.814 180 109.974 98 

109.949 109.954 34 109.954 74 109.894 174 109.934 208 109.854 180 109.954 98 

109.949 109.959 34 109.934 76 109.914 176 109.934 208 109.874 180 109.974 98 

109.949 109.974 34 109.914 74 109.934 174 109.914 208 109.874 180 109.954 98 

119.944 119.93 34 119.914 72 119.934 170 119.914 206 119.874 170 119.934 88 

119.944 119.99 34 119.874 72 119.934 174 119.934 206 119.894 170 119.954 88 

119.944 119.95 34 119.93 72 119.934 168 119.934 206 119.874 172 119.934 88 

119.944 119.87 34 119.93 72 119.934 170 119.934 206 119.954 170 119.954 88 

119.944 119.93 34 119.89 72 119.914 168 119.934 206 119.984 170 119.914 88 
 90

Table B.4 Data Set 5 - Absolute Distance Calibration: 10 m to 150 m 

Location: Tunnel, Bldg. 101 File: calib_form_4_28_01.xls

No Filter

Test date: April 28, 2001 

 3M Long Distance Performance (LDP) 

 Black White Silver, shiny 0o 45o 60o 

Distance 

(m) 

Laser Dist 

(m) 

Inten. Laser Dist. 

(m) 

Inten. Laser Dist. 

(m) 

Inten. Laser Dist.

(m) 

Inten. Laser Dist. 

(m) 

Inten. Laser Dist.

(m) 

Inten.

119.944 119.97 34 119.91 72 119.934 168 119.914 206 119.894 170 119.914 88 

119.944 119.93 34 119.91 72 119.93 168 119.934 206 119.894 170 119.954 88 

119.944 119.99 34 119.93 72 119.95 168 119.934 206 119.894 170 119.950 88 

119.944 119.91 34 119.87 72 119.914 168 119.914 206 119.874 172 119.934 88 

119.944 119.89 34 119.874 72 119.95 168 119.894 206 119.854 170 119.954 88 

129.941 129.91 36 129.91 68 129.93 166 129.91 204 129.910 162 129.890 80 

129.941 129.91 36 129.89 68 129.91 166 129.91 204 129.930 162 129.890 80 

129.941 129.97 36 129.89 68 129.95 166 129.89 204 129.910 162 129.910 80 

129.941 129.93 36 129.91 68 129.89 166 129.87 204 129.910 162 129.910 80 

129.941 129.93 36 129.91 68 129.95 166 129.93 204 129.910 162 129.910 80 

129.941 129.95 36 129.89 68 129.93 166 129.93 204 129.950 162 129.910 80 

129.941 129.95 36 129.93 68 129.93 164 129.93 204 129.910 162 129.870 80 

129.941 129.95 36 129.91 68 129.91 166 129.93 204 129.890 162 129.930 80 

129.941 129.87 36 129.87 68 129.91 166 129.93 204 129.930 162 129.890 80 

129.941 129.91 36 129.91 68 129.91 166 129.91 204 129.890 162 129.910 80 

139.939 140.048 44 139.928 68 139.924 156 139.898 204 139.873 154 139.968 82 

139.939 139.968 46 139.884 68 139.884 158 139.893 204 139.873 154 139.908 82 

139.939 139.988 44 139.864 68 139.944 162 139.913 204 139.873 154 139.928 82 

139.939 140.008 44 139.904 68 139.944 162 139.893 204 139.893 154 139.928 82 

139.939 139.928 44 139.904 68 139.944 162 139.893 204 139.873 154 139.928 82 

139.939 139.968 46 139.904 68 139.944 164 139.913 204 139.893 154 139.928 82 

139.939 140.028 44 139.904 68 139.944 162 139.933 204 139.933 154 139.908 82 

139.939 139.968 44 139.904 68 139.944 164 139.893 204 139.913 154 139.928 82 

139.939 139.988 44 139.864 68 139.944 162 139.893 204 139.893 154 139.908 82 

139.939 139.928 44 139.904 68 139.944 162 139.913 204 139.893 154 139.948 82 

149.930 149.87 64 149.79 76 149.91 152 149.89 200 149.91 152 150.070 92 

149.930 149.89 64 149.83 76 149.91 152 149.89 200 149.89 152 150.110 92 

149.930 149.93 62 149.81 76 149.87 152 149.89 200 149.89 152 150.090 92 

149.930 149.89 64 149.77 76 149.87 152 149.91 200 149.89 152 150.070 92 

149.930 149.85 62 149.81 76 149.91 152 149.89 200 149.91 152 150.070 92 

149.930 149.89 64 149.81 76 149.89 152 149.89 200 149.91 152 150.070 92 

149.930 149.85 64 149.81 76 149.89 152 149.87 200 149.89 152 150.090 92 

149.930 149.83 64 149.79 76 149.93 152 149.89 200 149.91 152 150.070 92 

149.930 149.95 62 149.77 76 149.89 158 149.85 200 149.97 152 150.090 92 

149.930 149.87 62 149.85 76 149.91 152 149.85 200 149.91 152 150.050 92 

149.930 149.95 62 149.81 76 149.91 158 149.89 200 149.87 152 150.090 92 
 91

Table B.5 Data Set 6 - Angle of Laser Incidence: 10 m to 100 m 

Attic, Bldg. 226 

No Filter

Test Dates: Nov. 1, 5, and 28, 2001 

File: rot_calib_11_01_01.xls

 Silver, shiny 

 Rotation Angle ( o ) 

Distance 0 10 20 30 40 50 

(m) Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. 

10 9.947 200 9.987 170 10.028 126 10.128 98 10.268 84 10.688 86 

10 9.987 200 10.008 170 10.028 126 10.068 98 10.268 86 10.668 86 

10 9.987 200 10.008 170 10.028 126 10.068 98 10.248 84 10.668 86 

10 9.927 200 9.947 170 10.028 126 10.068 98 10.288 86 10.668 86 

10 9.947 200 9.947 170 9.987 126 10.108 98 10.268 84 10.688 86 

10 9.947 200 10.008 170 9.987 126 10.068 98 10.248 86 10.668 86 

10 9.987 200 9.987 170 10.028 126 10.108 98 10.228 84 10.668 86 

10 9.967 200 10.008 170 10.028 126 10.088 98 10.248 86 10.648 86 

10 9.987 200 10.008 170 10.028 126 10.088 98 10.288 84 10.628 86 

10 10.008 200 9.987 170 9.987 126 10.108 98 10.288 84 10.688 86 

20 19.962 200 20.002 176 19.982 132 20.022 98 19.982 80 19.862 72 

20 19.982 200 20.002 176 19.982 132 20.062 98 19.982 80 19.842 72 

20 19.982 200 19.982 176 19.962 130 20.022 98 20.002 80 19.842 72 

20 19.922 200 20.002 176 19.962 132 20.062 98 20.022 80 19.902 72 

20 19.962 200 20.002 176 20.002 130 20.002 98 20.022 80 19.842 72 

20 19.982 202 20.002 176 19.982 132 20.042 98 20.042 80 19.822 74 

20 19.982 200 19.982 176 20.002 130 20.022 98 20.022 80 19.822 74 

20 19.982 200 20.002 176 19.982 130 20.062 98 20.002 80 19.842 74 

20 19.982 200 19.962 176 20.002 132 20.002 98 20.002 80 19.802 74 

20 19.922 200 19.982 176 20.022 132 20.042 98 20.022 80 19.862 72 

30 29.96 190 29.96 150 30.06 106 30.06 80 30.38 78 30.6 76 

30 29.98 190 29.98 148 30.04 106 30.08 80 30.4 78 30.48 66 

30 29.96 190 29.98 150 30.06 106 30.12 80 30.42 78 30.34 58 

30 29.98 190 29.94 150 30.04 106 30.08 80 30.42 78 30.36 60 

30 29.98 190 29.94 150 30.06 106 30.1 80 30.42 78 30.36 58 

30 29.98 190 29.98 150 30.02 106 30.1 80 30.4 78 30.36 58 

30 29.96 190 29.98 150 30.06 106 30.1 80 30.38 78 30.34 58 

30 29.96 190 29.94 150 30.06 106 30.12 80 30.44 78 30.32 58 

30 29.92 190 29.98 150 30.06 106 30.08 80 30.52 78 30.34 58 

30 29.94 190 29.98 150 30.06 106 30.08 80 30.52 80 30.36 58 

40 39.94 192 39.98 148 39.996 96 39.916 72 40.556 80 41.016 58 

40 39.98 190 39.976 148 39.976 96 39.916 72 40.416 68 41.076 58 

40 39.94 190 39.936 148 39.996 96 39.956 72 39.936 60 41.016 58 

40 39.94 190 39.976 148 39.996 96 39.936 72 39.956 60 40.976 58 

40 39.96 192 39.956 148 40.016 96 39.956 72 39.996 62 41.076 58 

40 39.96 190 39.996 148 39.976 96 39.916 72 39.936 62 41.016 58 

40 39.94 190 39.976 148 39.976 94 39.916 72 39.976 62 41.056 58 

40 39.94 192 39.936 148 39.976 94 39.956 72 39.936 62 40.616 62 

40 39.94 190 39.976 148 40.016 96 39.916 72 39.976 62 40.996 58 

40 39.94 192 39.956 148 39.996 94 39.956 72 39.956 62 40.996 58 

50 49.922 184 50.002 142 50.042 96 50.302 72 50.622 62 51.102 64 

50 49.962 184 49.962 140 50.022 94 50.322 72 50.662 62 51.102 64 

50 49.942 184 49.982 140 50.022 94 50.262 72 50.662 62 51.102 66 

50 49.942 184 49.942 140 50.042 94 50.322 72 50.662 62 51.062 66 

50 49.922 184 49.962 140 50.042 94 50.302 72 50.642 62 51.062 66 

50 49.942 184 49.962 140 50.042 94 50.302 72 50.622 62 51.082 64 

50 49.942 184 49.982 140 50.042 96 50.262 72 50.642 62 51.062 64 

50 49.942 184 49.962 140 50.022 94 50.282 72 50.642 62 51.042 66 

50 49.942 184 49.982 140 50.022 94 50.302 72 50.622 62 51.082 66 

50 49.942 184 49.982 140 50.022 94 50.322 72 50.662 62 51.062 66 

60 59.968 184 59.984 134 60.019 84 60.094 62 60.47 60 60.685 70 

60 59.908 184 59.959 136 60.034 84 60.05 62 60.49 60 60.725 70 

60 59.908 184 59.919 134 59.994 84 60.09 62 60.49 60 60.745 70 

60 59.948 184 59.939 136 60.014 84 60.07 64 60.485 60 60.725 70 

60 59.928 184 59.919 136 60.034 84 60.11 62 60.51 60 60.745 70 

60 59.988 184 59.919 136 59.994 84 60.09 64 60.53 60 60.745 68 
 92

Table B.5 Data Set 6 - Angle of Laser Incidence: 10 m to 100 m 

Attic, Bldg. 226 

No Filter

Test Dates: Nov. 1, 5, and 28, 2001 

File: rot_calib_11_01_01.xls

 Silver, shiny 

 Rotation Angle ( o ) 

Distance 0 10 20 30 40 50 

(m) Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. 

60 59.964 184 59.979 134 60.034 84 60.09 62 60.49 60 60.765 68 

60 59.944 184 59.939 134 60.034 82 60.07 62 60.51 60 60.765 68 

60 59.944 184 59.919 134 60.034 84 60.09 62 60.485 60 60.725 68 

60 59.904 184 59.919 134 60.034 84 60.07 64 60.49 60 60.765 68 

70 69.922 182 69.982 112 70.042 68 70.282 52 70.962 52 71.082 48 

70 69.962 182 70.002 112 70.022 70 70.222 52 71.062 52 71.082 48 

70 69.942 182 70.002 112 70.002 68 70.282 52 70.922 52 71.082 48 

70 69.942 182 70.002 112 70.022 70 70.262 52 70.962 52 71.082 48 

70 69.942 182 70.002 112 70.022 70 70.282 52 71.002 52 71.062 48 

70 69.942 182 69.982 112 69.982 70 70.282 52 71.002 52 71.122 48 

70 69.922 182 69.962 112 69.982 70 70.302 52 70.982 52 71.042 48 

70 69.942 182 69.962 112 70.002 70 70.262 52 71.002 52 71.062 48 

70 69.922 182 70.002 112 70.022 70 70.302 52 71.002 52 71.102 48 

70 69.942 182 69.982 112 69.982 68 70.282 52 71.022 52 71.102 48 

80 79.937 172 79.972 96 79.932 62 79.992 44 79.997 44 79.957 32 

80 79.977 172 79.977 96 79.937 62 79.977 44 80.277 40 80.037 34 

80 79.972 172 79.997 96 79.952 62 79.997 44 80.057 38 80.097 34 

80 79.952 172 79.957 96 79.957 62 79.907 44 80.077 40 79.997 32 

80 79.957 172 79.992 96 79.932 62 80.077 44 79.977 38 80.137 34 

80 79.952 172 79.997 96 79.937 62 79.977 44 80.217 40 79.957 32 

80 79.957 172 79.977 96 79.957 62 80.017 44 80.057 40 79.957 32 

80 79.977 172 79.977 96 79.937 62 79.997 44 80.077 40 79.957 32 

80 79.977 172 79.957 96 79.932 62 80.017 44 79.997 38 80.017 32 

80 79.972 172 79.997 96 79.977 62 79.997 44 80.037 40 79.957 32 

90 89.937 174 89.997 102 89.957 60 90.017 42 90.037 42 91.057 38 

90 89.937 174 89.997 102 89.977 60 90.057 42 90.597 42 91.117 38 

90 89.937 174 89.977 102 89.977 60 89.977 42 90.537 38 91.017 38 

90 89.897 174 89.977 102 89.977 60 89.997 42 90.537 42 91.057 38 

90 89.937 174 89.997 102 89.957 60 90.037 42 90.217 38 90.977 38 

90 89.917 174 89.977 102 89.957 60 90.057 42 90.577 42 91.057 36 

90 89.937 174 89.977 102 89.937 60 89.997 42 89.977 38 91.017 38 

90 89.937 174 89.997 102 89.957 60 89.977 42 90.037 38 91.017 38 

90 89.937 174 89.957 102 89.937 60 90.017 42 90.017 36 91.017 38 

90 89.917 174 90.017 102 89.977 60 90.037 42 90.037 38 91.017 38 

100 99.937 176 99.997 92 100.137 42 100.117 38 99.997 44 100.797 52 

100 99.917 172 99.957 90 100.157 42 100.117 38 100.037 44 101.277 52 

100 99.937 168 99.957 90 100.217 42 100.137 38 100.157 44 100.077 52 

100 99.937 170 99.957 90 100.177 42 100.057 38 101.077 44 100.077 52 

100 99.917 170 99.997 90 100.177 42 100.097 38 100.057 44 101.717 52 

100 99.917 170 99.937 90 100.237 42 100.177 40 100.097 44 100.297 52 

100 99.917 170 99.957 90 100.197 42 100.097 38 100.117 44 101.517 52 

100 99.897 170 99.957 90 100.237 42 100.077 38 100.157 44 101.497 52 

100 99.917 170 99.977 90 100.237 42 100.137 38 100.077 44 101.417 52 

100 99.957 170 99.977 90 100.177 42 100.017 40 100.137 46 99.937 52 
 93

Table B.5 Angle of Laser Incidence: 10 m to 100 m

Attic, Bldg. 226 

No Filter

Test Dates: Nov. 1, 5, and 28, 2001 

File: rot_calib_11_01_01.xls

 Silver, shiny 

 Rotation Angle (o) 

Distance 60 70 80 85 90 

(m) Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. 

10 11.109 102 11.53 74 13.333 72 9.887 50 9.567 74 

10 11.169 102 11.53 74 13.353 72 9.867 52 9.567 74 

10 11.169 102 11.55 74 13.333 72 9.987 52 9.607 74 

10 11.129 102 11.55 74 13.333 74 9.847 52 9.607 74 

10 11.169 102 11.57 74 13.333 72 9.887 52 9.562 74 

10 11.109 102 11.55 74 13.373 72 9.907 50 9.587 74 

10 11.149 102 11.55 74 13.353 72 9.887 50 9.567 74 

10 11.169 102 11.53 74 13.313 74 9.887 52 9.607 74 

10 11.169 102 11.57 74 13.333 72 9.807 50 9.567 74 

10 11.129 102 11.55 74 13.313 72 9.867 50 9.607 74 

20 19.902 66 20.042 48 20.142 56 19.882 60 19.782 76 

20 19.902 66 20.062 48 20.182 56 19.862 60 19.962 76 

20 19.882 66 20.022 48 20.082 58 19.822 58 19.802 78 

20 19.882 66 20.042 48 20.162 58 19.842 58 19.822 78 

20 19.902 64 20.062 48 20.142 58 19.842 60 19.802 78 

20 19.902 64 20.082 48 20.142 56 19.882 58 19.802 78 

20 19.902 66 20.002 48 20.202 58 19.842 60 19.802 78 

20 19.922 64 20.042 48 20.082 58 19.842 60 19.762 78 

20 19.882 66 20.062 48 20.162 56 19.862 60 19.802 78 

20 19.902 66 20.062 48 20.142 58 19.882 60 19.782 78 

30 31.22 66 31.956 56 30.276 62 30.036 58 29.776 68 

30 31.24 66 31.96 56 30.136 62 29.976 58 29.796 68 

30 31.216 66 31.976 56 30.196 62 29.996 58 29.776 68 

30 31.216 66 31.976 56 30.056 62 30.056 58 29.756 68 

30 31.196 66 31.956 56 30.076 62 30.016 58 29.756 68 

30 31.176 66 31.956 56 30.176 62 29.896 58 29.836 68 

30 31.216 66 31.936 56 30.176 62 29.936 58 29.836 68 

30 31.196 66 31.976 56 30.096 60 29.956 58 29.796 68 

30 31.176 66 31.936 56 30.216 62 29.936 58 29.816 68 

30 31.196 66 31.916 56 30.156 62 29.896 58 29.816 68 

40 41.576 52 40.411 42 39.951 50 39.871 54 39.651 64 

40 41.576 52 40.596 42 39.851 48 39.951 54 39.711 64 

40 41.551 52 40.451 42 39.871 50 39.931 54 39.731 64 

40 41.571 52 40.651 42 39.911 50 39.951 54 39.691 64 

40 41.596 52 40.431 42 39.871 48 39.991 54 39.691 64 

40 41.591 52 40.371 42 39.971 50 39.831 54 39.651 66 

40 41.611 52 40.531 42 39.891 48 40.051 54 39.651 64 

40 41.556 52 40.491 42 39.891 50 39.971 54 39.691 64 

40 41.551 52 40.551 42 39.891 50 39.831 54 39.691 64 

40 41.551 50 40.531 42 39.911 48 39.811 54 39.671 66 

50 51.242 48 52.542 78 50.382 52 50.042 54 49.602 74 

50 50.962 46 51.742 54 51.022 50 49.982 54 109.317 74 

50 50.982 46 51.742 52 50.722 50 50.002 54 109.317 74 

50 50.982 46 51.722 54 51.642 50 50.062 54 109.337 74 

50 51.022 48 51.737 54 50.982 52 49.842 88 109.322 74 

50 51.022 48 51.762 54 50.862 52 50.157 56 109.282 74 

50 50.962 46 51.722 54 50.902 52 50.162 54 109.322 74 

50 50.982 46 51.722 54 50.822 52 50.022 54 109.342 74 

50 50.982 48 51.722 54 50.742 52 50.077 54 49.722 74 

50 50.982 48 51.722 54 50.322 52 50.022 54 109.297 74 

60 60.845 64 60.96 48 62.6 66 59.736 68 59.636 74 

60 60.86 64 61 48 62.56 66 59.816 68 59.596 74 

60 60.86 64 60.98 48 62.576 66 59.796 68 59.656 74 

60 60.9 64 60.92 48 62.54 66 59.796 68 59.616 74 

60 60.885 64 61.02 48 62.52 66 59.876 68 59.536 74 

60 60.88 64 61.02 48 62.516 66 59.916 68 59.616 74 

60 60.88 64 60.92 48 62.52 66 59.916 68 59.536 74 
 94

Table B.5 Angle of Laser Incidence: 10 m to 100 m

Attic, Bldg. 226 

No Filter

Test Dates: Nov. 1, 5, and 28, 2001 

File: rot_calib_11_01_01.xls

 Silver, shiny 

 Rotation Angle (o) 

Distance 60 70 80 85 90 

(m) Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. 

60 60.86 64 60.96 48 62.576 66 59.996 68 59.636 74 

60 60.86 64 61.02 48 62.556 66 59.956 68 59.636 74 

60 60.84 64 61 48 62.476 66 59.676 68 59.596 74 

70 71.122 42 72.022 54 73.302 62 69.837 66 69.577 70 

70 71.122 44 71.882 52 73.402 62 90.457 66 69.717 70 

70 71.102 44 71.962 54 73.342 62 90.682 66 69.717 70 

70 71.162 44 71.902 52 73.422 62 90.697 66 69.757 70 

70 71.102 44 71.862 52 73.362 62 90.637 66 69.557 70 

70 71.142 44 71.922 52 73.277 62 90.437 66 69.697 70 

70 71.122 44 72.017 52 73.317 62 90.602 66 69.657 72 

70 71.022 44 72.042 52 73.317 62 90.477 66 69.697 70 

70 71.137 44 71.982 52 73.337 62 90.737 66 69.762 70 

70 71.122 44 71.902 54 73.377 62 90.577 66 69.677 70 

80 79.977 40 90.717 64 90.797 66 90.197 68 79.637 74 

80 80.057 40 90.897 64 90.877 66 90.272 68 79.617 72 

80 79.937 40 90.777 64 91.137 66 90.257 68 79.617 74 

80 79.997 40 90.597 64 90.772 66 90.257 70 79.492 74 

80 79.997 40 90.777 64 91.017 66 90.257 68 79.557 74 

80 79.997 40 109.957 64 90.727 66 90.312 68 79.953 74 

80 79.997 40 110.112 62 91.072 66 90.197 68 79.537 74 

80 79.977 40 90.797 64 90.957 66 90.377 70 79.577 74 

80 79.992 40 90.817 64 90.977 68 90.377 68 79.577 74 

80 79.997 40 90.557 64 90.617 66 90.317 68 79.697 74 

90 91.197 56 109.117 64 94.397 68 97.237 68 89.657 72 

90 91.917 56 109.137 64 94.457 68 97.117 70 89.777 72 

90 91.277 56 91.737 64 94.397 68 96.897 70 89.777 72 

90 91.177 56 109.117 64 94.397 68 97.277 70 89.717 72 

90 91.237 56 91.837 64 94.497 68 96.997 70 89.737 72 

90 91.297 56 109.137 64 94.417 68 97.157 70 89.637 72 

90 91.197 56 109.137 64 94.457 68 97.017 70 89.737 72 

90 91.217 58 91.197 64 94.597 68 97.057 68 89.737 72 

90 91.277 56 109.137 64 94.337 68 97.237 70 89.697 72 

90 91.237 54 91.697 64 94.477 68 97.237 68 89.757 72 

100 110.077 64 109.677 66 109.537 70 109.417 70 99.817 76 

100 110.037 64 109.657 66 109.537 70 109.417 70 99.597 76 

100 109.957 64 109.657 66 109.537 68 109.397 70 99.677 76 

100 110.017 64 109.697 66 109.537 70 109.377 70 99.737 76 

100 110.097 64 109.657 66 109.537 70 109.397 70 99.677 76 

100 110.037 64 109.577 66 109.477 70 109.377 70 99.617 76 

100 109.977 64 109.597 66 109.537 70 109.377 70 99.557 76 

100 102.777 64 109.657 66 109.557 70 109.397 70 99.697 76 

100 109.877 64 109.717 66 109.497 70 109.417 70 99.757 76 

100 109.997 64 109.657 66 109.517 70 109.397 70 99.677 76 
 95

Table B.5 Angle of Laser Incidence: 10 m to 100 m

Attic, Bldg. 226 

No Filter

Test Dates: Nov. 1, 5, and 28, 2001 

File: rot_calib_11_01_01.xls

 White 

 Rotation Angle ( o ) 

Distance 0 10 20 30 40 50 

(m) Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten.

10 9.967 150 10.003 150 9.942 148 10.003 148 10.003 144 10.023 142 

10 9.982 150 10.008 150 9.982 150 10.003 148 9.982 144 10.003 142 

10 9.962 150 9.982 150 10.003 148 9.982 148 9.982 144 10.023 142 

10 10.003 150 9.962 150 9.982 150 9.982 146 9.982 144 10.003 142 

10 9.982 150 10.003 150 9.962 148 10.023 148 10.003 144 10.023 142 

10 9.962 150 9.982 150 10.003 148 10.003 148 10.003 144 9.982 142 

10 9.962 150 9.982 150 9.982 148 9.962 146 10.003 144 9.982 142 

10 9.982 150 9.942 150 9.982 150 10.003 148 9.962 144 10.023 142 

10 10.003 150 10.003 150 10.003 148 10.003 148 10.003 144 9.982 142 

10 9.967 150 9.942 150 9.962 148 9.962 146 10.003 144 9.982 142 

20 19.982 150 20.002 150 19.962 148 20.002 146 20.002 144 19.962 140 

20 19.982 150 19.962 150 19.982 148 19.982 146 19.962 144 19.962 140 

20 20.002 150 19.982 150 20.002 148 20.002 146 20.002 144 20.002 140 

20 19.962 150 20.002 150 20.002 148 20.022 146 19.962 144 20.002 140 

20 19.982 150 20.002 150 20.002 148 20.022 146 19.982 144 19.962 140 

20 20.002 150 19.962 150 20.002 148 20.002 146 19.982 144 19.982 140 

20 20.002 150 20.002 150 20.002 148 20.002 146 19.982 144 20.002 140 

20 19.982 150 20.002 150 20.002 148 20.002 146 20.002 144 19.982 140 

20 20.002 150 20.002 150 19.982 148 20.002 146 20.002 144 20.022 140 

20 19.962 150 20.002 150 19.962 148 20.002 146 19.962 144 20.002 140 

30 29.996 138 30.016 138 29.976 136 29.976 134 29.971 130 29.991 126 

30 29.976 138 29.976 136 29.996 136 30.016 134 29.951 130 29.991 126 

30 29.996 138 29.976 136 29.956 136 29.976 134 29.991 130 29.971 126 

30 30.016 138 29.976 136 29.976 136 29.996 134 29.991 130 30.011 126 

30 30.016 138 29.996 136 29.996 136 29.991 134 29.951 130 29.951 126 

30 29.976 138 29.996 138 29.996 136 29.976 134 29.991 130 29.971 126 

30 29.996 138 29.936 136 29.996 136 29.976 134 29.971 130 29.991 126 

30 29.996 138 29.976 136 29.996 136 30.011 134 29.971 130 29.971 126 

30 30.016 138 29.996 136 29.956 136 29.991 134 29.991 130 29.971 126 

30 29.976 138 29.976 136 29.956 136 29.951 134 29.971 130 29.991 126 

40 39.971 120 40.011 120 39.991 120 39.986 118 39.966 114 39.966 112 

40 39.991 122 39.951 120 40.011 120 39.971 118 40.011 116 40.006 112 

40 39.991 122 39.991 120 40.006 120 39.971 118 40.006 116 39.986 112 

40 39.991 122 39.951 120 39.991 120 40.031 118 39.986 116 39.966 112 

40 40.011 122 39.971 120 39.991 120 39.986 118 39.986 116 39.986 112 

40 40.031 122 39.951 120 39.991 120 39.986 118 40.006 116 39.986 112 

40 39.971 122 40.011 120 39.971 120 39.986 118 39.986 116 40.006 112 

40 39.991 122 39.951 120 40.011 120 39.951 118 40.006 116 40.006 112 

40 40.011 122 39.971 120 39.991 120 39.971 118 40.006 116 40.006 112 

40 39.991 122 39.991 120 39.946 120 39.966 118 40.006 116 39.966 112 

50 49.977 108 50.017 108 49.977 108 50.037 106 49.997 102 50.017 98 

50 49.977 108 50.017 108 50.017 108 50.017 106 49.977 102 49.997 100 

50 49.977 108 49.997 108 50.017 108 49.997 106 49.997 102 50.037 100 

50 49.957 108 50.017 108 50.017 108 50.017 106 49.997 102 50.017 100 

50 49.997 108 49.977 108 50.017 108 50.017 106 50.037 104 50.017 98 

50 49.977 108 50.017 108 49.997 108 50.017 106 50.017 102 49.997 98 

50 49.997 108 49.982 108 49.997 108 50.017 106 50.022 104 50.017 100 

50 49.997 108 49.997 108 49.977 108 50.017 106 49.977 104 50.037 100 

50 49.997 108 50.017 108 50.037 108 49.997 106 49.997 102 50.037 100 

50 49.977 108 50.017 108 50.017 108 49.977 106 50.017 104 49.997 100 

60 59.976 100 59.991 100 60.011 98 59.991 96 59.971 94 59.991 90 

60 59.996 100 59.991 100 60.011 98 59.991 98 59.931 94 59.971 90 

60 59.976 100 59.991 100 59.951 98 59.991 96 59.991 94 59.951 90 

60 60.011 100 59.971 100 60.011 98 59.951 96 59.971 94 59.991 90 

60 60.011 100 59.951 100 59.971 98 59.971 98 59.971 94 59.991 90 

60 59.991 100 59.991 100 59.991 98 59.991 96 59.991 94 60.011 90 

60 59.971 100 59.931 100 60.011 98 59.971 96 59.971 94 59.991 90 
 96

Table B.5 Angle of Laser Incidence: 10 m to 100 m

Attic, Bldg. 226 

No Filter

Test Dates: Nov. 1, 5, and 28, 2001 

File: rot_calib_11_01_01.xls

 White 

 Rotation Angle ( o ) 

Distance 0 10 20 30 40 50 

(m) Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten.

60 59.991 100 59.991 100 60.011 98 59.991 96 60.011 94 59.971 90 

60 59.971 100 60.011 100 59.991 98 60.011 98 60.011 94 59.971 90 

60 59.991 100 59.971 100 59.991 98 59.991 96 59.971 94 59.991 90 

70 69.677 70 69.957 90 69.977 90 69.977 88 69.997 86 69.977 80 

70 69.977 90 69.977 90 69.977 90 69.977 88 69.957 84 69.997 80 

70 69.957 90 69.957 90 69.977 90 69.977 88 69.957 84 69.977 80 

70 69.957 90 69.977 90 69.997 90 69.997 88 70.017 84 69.957 80 

70 69.957 90 69.957 90 69.997 90 69.997 88 69.957 84 69.997 82 

70 69.957 90 69.977 90 70.017 90 69.957 88 69.957 84 69.977 80 

70 69.977 90 69.997 90 69.997 90 69.997 88 69.977 84 69.957 80 

70 69.957 90 69.977 90 69.997 90 69.977 88 69.997 84 69.977 80 

70 69.997 90 69.957 90 69.997 90 69.977 88 69.977 84 69.997 82 

70 69.937 90 69.957 90 69.957 90 69.997 88 69.997 84 69.977 80 

80 79.997 84 79.992 84 79.992 82 79.972 80 79.972 78 79.937 74 

80 79.972 84 79.992 84 79.992 82 79.977 80 79.977 78 79.977 76 

80 79.977 84 79.972 84 79.972 82 79.972 80 79.977 78 79.952 76 

80 79.997 84 79.997 84 79.977 82 79.992 80 79.957 78 79.977 74 

80 79.997 84 79.997 84 79.972 82 79.977 80 79.952 78 79.977 74 

80 79.972 84 79.952 84 79.992 82 80.017 80 79.957 78 79.952 74 

80 79.957 84 79.972 84 79.992 82 79.977 80 79.952 78 79.932 76 

80 79.992 84 79.992 84 79.997 82 79.972 80 79.977 78 79.972 74 

80 79.992 84 79.992 84 80.012 82 79.997 80 79.957 78 79.972 74 

80 79.972 84 79.952 84 79.997 82 79.952 80 79.977 78 79.957 74 

90 89.957 78 89.997 78 89.977 78 89.957 76 89.957 74 89.957 70 

90 89.997 78 89.997 78 89.957 78 89.957 76 89.977 74 89.957 70 

90 89.957 78 89.957 78 89.977 78 89.957 76 89.937 74 89.937 70 

90 89.957 78 89.957 78 89.977 78 89.977 76 89.957 74 89.957 70 

90 89.977 78 89.977 78 89.957 78 89.977 76 89.957 74 89.957 70 

90 89.957 78 89.957 78 89.957 78 89.957 76 89.957 74 89.957 70 

90 89.977 78 89.957 78 89.977 78 89.977 76 89.957 74 89.997 70 

90 89.997 78 89.957 78 89.977 78 89.957 76 89.937 74 89.937 70 

90 89.957 78 89.977 78 89.977 78 89.977 76 89.957 74 89.957 70 

90 89.977 78 89.977 78 89.977 76 89.977 76 89.937 74 89.977 70 

100 99.937 74 99.957 74 99.937 74 99.937 72 99.917 68 99.837 68 

100 99.957 76 99.937 74 99.937 74 99.917 72 99.937 68 99.817 68 

100 99.957 76 99.937 74 99.937 74 99.917 72 99.937 68 99.797 66 

100 99.957 76 99.937 74 99.917 74 99.957 72 99.897 68 99.817 68 

100 99.937 76 99.937 74 99.937 74 99.897 72 99.897 68 99.817 68 

100 99.957 76 99.937 74 99.937 74 99.917 72 99.917 68 99.837 66 

100 99.937 76 99.937 74 99.957 74 99.917 72 99.897 70 99.817 66 

100 99.957 76 99.957 74 99.957 74 99.937 72 99.917 68 99.817 68 

100 99.957 76 99.937 74 99.937 74 99.937 72 99.917 68 99.817 66 

100 99.957 76 99.937 74 99.917 74 99.937 72 99.917 68 99.817 66 
 97

Table B.5 Angle of Laser Incidence: 10 m to 100 m

Attic, Bldg. 226 

No Filter

Test Dates: Nov. 1, 5, and 28, 2001 

File: rot_calib_11_01_01.xls

 White 

 Rotation Angle ( o ) 

Distance 60 70 80 85 90 

(m) Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. 

10 9.962 136 9.962 132 9.982 126 10.023 118 9.762 74 

10 10.003 136 10.003 132 9.982 126 10.003 118 9.722 74 

10 9.962 136 10.003 132 10.003 126 10.023 118 9.762 74 

10 10.003 136 10.003 132 10.003 126 10.003 118 9.762 74 

10 10.003 136 9.962 132 10.023 126 10.023 118 9.682 74 

10 9.982 136 10.003 132 9.962 126 10.023 118 9.762 74 

10 10.023 136 10.023 132 10.003 128 10.023 118 9.742 74 

10 9.962 136 10.003 132 10.023 128 10.023 118 9.742 74 

10 9.982 136 10.003 132 10.003 126 10.023 118 9.742 74 

10 10.023 138 9.962 132 10.003 128 9.982 118 9.762 74 

20 19.982 136 20.002 132 20.042 124 20.022 112 19.802 104 

20 20.002 136 20.022 132 20.022 124 20.002 112 19.842 104 

20 20.002 136 19.982 132 20.022 124 20.022 112 19.802 104 

20 20.022 136 20.022 132 20.042 124 20.002 112 19.822 104 

20 20.002 136 20.022 132 20.042 124 19.982 112 19.842 104 

20 20.002 136 19.982 132 20.022 124 19.982 112 19.842 104 

20 20.022 136 19.982 132 20.002 124 20.002 112 19.822 104 

20 20.002 136 19.982 132 20.022 124 19.982 112 19.822 102 

20 20.002 136 20.042 132 20.042 124 20.002 112 19.802 104 

20 19.962 136 20.022 132 20.042 124 19.962 112 19.842 104 

30 29.971 122 29.991 116 29.971 100 30.071 82 29.751 70 

30 30.011 122 29.991 116 29.971 100 30.011 82 29.771 70 

30 29.991 122 29.991 116 29.911 100 30.071 82 29.751 72 

30 29.991 122 30.011 116 29.951 100 30.031 82 29.731 70 

30 30.011 122 29.991 116 29.911 100 30.051 82 29.751 70 

30 29.991 122 30.011 116 29.931 100 30.051 82 29.771 70 

30 29.991 122 29.991 116 29.951 100 30.051 82 29.771 70 

30 29.991 122 29.991 116 29.951 100 30.051 82 29.771 72 

30 30.011 122 30.011 116 29.931 100 30.051 82 29.811 70 

30 29.991 122 30.011 116 29.931 100 30.051 82 29.751 70 

40 40.006 108 39.966 100 39.966 78 39.986 74 39.846 70 

40 40.026 108 40.006 100 39.966 80 39.966 74 39.846 70 

40 40.006 108 39.966 100 39.946 80 39.966 72 39.826 70 

40 40.006 108 39.986 100 39.946 78 39.966 74 39.846 70 

40 40.026 108 40.006 100 39.966 80 39.966 74 39.846 70 

40 40.006 108 40.006 100 39.966 80 39.946 74 39.826 70 

40 40.006 108 40.006 100 39.966 78 39.966 74 39.846 70 

40 40.026 108 39.986 100 39.966 78 39.966 72 39.806 70 

40 39.966 108 40.006 100 39.966 78 39.966 72 39.866 70 

40 39.986 108 39.986 100 39.966 78 39.966 74 39.846 70 

50 50.037 94 49.977 82 49.977 72 50.037 58 49.697 74 

50 49.997 94 49.957 82 49.957 72 50.037 58 49.717 74 

50 49.977 94 49.977 82 49.957 72 50.057 58 49.897 74 

50 49.977 94 49.977 82 49.937 72 50.037 58 49.617 74 

50 49.997 94 49.977 82 49.957 72 50.077 58 49.797 74 

50 50.017 94 49.977 82 49.957 72 50.077 58 49.657 74 

50 49.977 94 49.997 82 49.917 72 50.017 58 49.777 74 

50 49.997 94 49.937 82 49.917 72 50.037 58 49.837 74 

50 49.997 94 49.957 82 49.957 72 50.037 58 49.797 74 

50 50.037 94 49.957 82 49.937 72 50.037 58 49.797 74 

60 59.991 84 59.986 70 59.926 62 59.866 62 59.646 70 

60 59.991 84 59.966 70 59.946 60 59.886 62 59.726 70 

60 59.971 84 59.946 70 59.966 62 59.926 62 59.726 70 

60 60.006 84 59.946 70 59.946 62 59.906 62 59.686 70 

60 59.966 84 59.906 70 59.946 62 59.886 62 59.726 70 

60 60.011 84 59.966 70 59.926 62 59.886 64 59.726 70 

60 60.006 84 59.926 70 59.946 62 59.886 62 59.746 70 
 98

60 59.966 84 59.946 70 59.986 62 59.906 62 59.706 70 

60 59.966 84 59.926 70 59.946 62 59.926 62 59.766 70 

60 59.971 84 59.946 70 59.926 62 59.926 62 59.686 70 

70 69.957 76 69.957 60 69.957 58 69.937 60 69.697 70 

70 69.957 76 69.937 60 69.977 58 69.957 60 69.697 70 

70 69.957 76 69.977 60 69.977 58 69.977 60 69.657 70 

70 69.957 76 69.957 60 69.937 58 69.957 60 69.717 70 

70 69.977 76 69.997 60 69.997 58 70.017 60 69.717 70 

70 69.957 76 69.997 60 69.977 58 69.957 60 69.637 70 

70 69.977 76 69.997 60 69.997 58 69.937 60 69.677 70 

70 69.977 76 69.957 60 69.997 58 69.997 60 69.717 70 

70 69.977 76 69.977 60 70.017 58 69.957 60 69.637 70 

70 69.977 76 69.957 60 69.997 58 69.957 60 69.797 70 

80 79.957 66 79.932 60 79.872 62 79.812 66 79.577 72 

80 79.952 66 79.957 58 79.832 64 79.852 66 79.617 72 

80 79.932 66 79.932 60 79.892 62 79.857 66 79.592 72 

80 79.957 66 79.957 60 79.897 62 79.837 66 79.617 72 

80 79.952 66 79.932 60 79.857 62 79.832 66 79.677 72 

80 79.977 66 79.952 58 79.872 62 79.827 66 79.592 72 

80 79.932 66 79.952 58 79.852 62 79.852 66 79.517 72 

80 79.897 66 79.957 60 79.832 62 79.817 66 79.692 72 

80 79.937 66 79.912 60 79.892 62 79.812 66 79.692 72 

80 79.937 66 79.912 58 79.892 62 79.832 66 79.592 72 

90 89.977 58 89.817 64 89.837 66 89.817 68 89.717 72 

90 89.937 58 89.837 66 89.857 66 89.837 70 89.677 72 

90 89.937 58 89.817 66 89.837 68 89.877 68 89.737 72 

90 89.977 58 89.837 66 89.817 66 89.877 68 89.697 74 

90 89.957 58 89.857 64 89.837 66 89.857 68 89.697 72 

90 89.977 58 89.817 66 89.837 66 89.857 68 89.597 74 

90 89.937 58 89.817 66 89.877 68 89.817 68 89.677 72 

90 89.937 58 89.797 66 89.837 68 89.837 68 89.617 72 

90 89.937 58 89.857 64 89.817 68 89.837 68 89.657 72 

90 89.957 58 89.857 64 89.817 68 89.817 68 89.657 74 

100 99.717 72 99.717 74 99.737 74 99.637 76 99.817 74 

100 99.717 72 99.737 74 99.737 74 99.657 76 99.737 74 

100 99.717 72 99.677 74 99.757 76 99.757 76 99.997 74 

100 99.717 72 99.717 74 99.817 74 99.717 76 109.157 74 

100 99.717 72 99.737 74 99.717 76 99.717 76 99.757 74 

100 99.737 72 99.737 74 99.757 74 99.657 76 99.857 74 

100 99.677 72 99.737 74 99.817 76 99.637 76 99.857 74 

100 99.737 72 99.717 74 99.717 74 99.697 76 99.577 74 

100 99.697 72 99.677 74 99.717 76 99.717 76 109.177 74 

100 99.717 72 99.717 74 99.717 74 99.677 76 99.777 74 
 99

Table B.5 Angle of Laser Incidence: 10 m to 100 m

Attic, Bldg. 226 

No Filter

Test Dates: Nov. 1, 5, and 28, 2001 

File: rot_calib_11_01_01.xls 

 Black 

 Rotation Angle ( o ) 

Distance 0 10 20 30 40 50 

(m) Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. 

10 10.023 76 9.962 74 10.003 68 10.023 60 10.003 48 10.023 42 

10 10.003 76 10.003 74 10.003 68 10.023 58 10.003 48 10.003 42 

10 9.962 76 10.003 74 9.982 68 10.003 58 10.043 48 10.043 42 

10 10.023 78 10.003 74 9.982 68 9.982 60 10.063 48 10.023 42 

10 10.003 76 10.003 74 9.982 68 9.982 60 10.043 48 10.063 42 

10 9.962 76 9.982 74 10.003 68 10.003 60 10.063 48 10.023 42 

10 10.003 78 9.962 74 10.003 68 10.003 60 10.023 48 9.942 42 

10 10.023 78 9.962 74 9.982 68 10.023 60 10.023 48 10.043 42 

10 10.003 78 10.003 74 10.003 68 10.023 60 10.003 48 10.003 42 

10 10.003 76 9.962 74 10.003 68 9.962 60 10.023 48 9.982 42 

20 19.982 78 20.022 76 19.982 70 20.002 62 20.062 52 20.042 44 

20 19.982 78 20.002 76 19.962 70 20.002 62 20.002 52 20.042 46 

20 19.982 78 20.002 76 19.962 70 19.982 62 20.022 50 20.002 44 

20 19.982 78 19.982 76 20.022 70 20.002 62 20.002 50 19.982 44 

20 20.002 78 20.002 76 20.002 70 20.002 60 20.002 50 20.042 44 

20 19.982 78 19.982 76 19.982 70 19.982 60 19.982 52 20.002 44 

20 20.002 78 19.962 76 19.982 70 20.002 60 20.042 52 19.982 44 

20 19.982 78 20.002 76 20.002 70 20.022 62 20.002 52 20.022 44 

20 20.002 78 19.962 76 19.962 70 20.002 60 19.962 50 19.982 44 

20 20.002 78 20.002 76 20.002 70 20.022 60 20.022 52 20.022 44 

30 29.991 68 29.971 66 30.031 58 30.011 48 30.011 40 30.031 36 

30 29.971 68 29.991 66 29.971 58 29.971 48 30.051 42 29.991 36 

30 29.991 68 29.971 66 29.991 58 30.011 48 30.031 42 30.011 36 

30 29.951 68 29.951 66 29.991 58 29.971 48 29.971 40 29.971 36 

30 29.991 68 29.951 66 30.011 58 29.991 48 29.946 40 30.031 36 

30 29.991 68 29.931 66 29.991 58 30.011 48 29.991 42 29.986 36 

30 29.971 68 29.951 66 29.991 58 30.011 48 29.991 40 29.991 36 

30 29.971 68 29.971 66 29.971 58 30.011 48 30.011 40 30.031 36 

30 29.971 68 29.931 66 29.971 58 30.031 48 30.011 40 29.986 36 

30 29.991 68 29.971 66 29.991 58 29.991 48 30.031 40 30.046 36 

40 40.026 58 39.966 56 39.986 50 39.966 42 39.966 34 40.066 30 

40 40.026 58 39.966 56 40.026 50 40.006 42 40.026 34 39.946 28 

40 39.986 58 40.026 56 39.986 50 39.966 42 39.966 34 39.946 30 

40 40.026 58 39.986 56 40.026 50 40.006 42 40.006 34 39.966 30 

40 39.966 58 39.986 56 40.066 50 40.006 42 40.026 34 40.006 30 

40 39.946 58 39.986 56 40.006 50 40.006 42 40.046 34 39.926 30 

40 39.966 58 40.006 56 40.026 50 39.986 42 40.006 34 40.006 30 

40 40.006 58 40.006 56 40.006 50 40.006 42 40.046 34 39.986 30 

40 39.986 58 39.966 56 39.986 50 39.986 42 40.006 34 40.046 30 

40 39.986 58 40.006 56 39.966 50 40.006 42 39.986 34 40.006 30 

50 49.997 50 49.977 48 49.997 44 49.997 36 49.977 30 49.997 24 

50 49.997 48 49.997 48 50.017 42 49.977 36 49.997 28 49.957 24 

50 49.997 48 50.017 48 49.997 44 50.017 36 50.037 28 49.997 22 

50 50.017 50 49.977 48 50.017 42 50.057 36 49.977 28 49.977 24 

50 49.997 50 49.977 48 50.017 44 50.017 36 49.977 30 49.937 22 

50 49.977 50 50.017 48 49.997 44 50.077 36 50.017 30 50.077 24 

50 49.997 48 49.957 48 50.017 44 49.997 36 49.997 28 49.997 24 

50 49.937 48 50.037 48 50.017 44 50.037 36 50.077 30 49.937 22 

50 49.977 50 49.997 48 49.997 44 50.017 36 50.077 30 50.117 24 

50 49.977 50 50.057 48 50.017 44 50.017 36 50.017 28 49.997 24 

60 59.926 44 60.006 42 60.026 38 59.942 32 59.962 24 59.942 18 

60 59.966 44 59.926 42 59.966 38 59.982 32 59.942 26 60.042 20 

60 59.986 46 59.986 42 59.982 38 59.982 32 59.962 24 60.062 20 

60 60.006 44 59.986 44 60.002 38 60.022 32 59.962 26 60.042 22 

60 59.986 44 60.022 42 59.986 38 60.042 32 60.062 24 60.022 20 

60 59.906 44 59.966 42 59.902 38 60.022 32 59.942 26 60.082 20 

60 60.006 46 60.006 42 59.962 38 60.022 30 59.982 26 60.102 20 
 100

Table B.5 Angle of Laser Incidence: 10 m to 100 m

Attic, Bldg. 226 

No Filter

Test Dates: Nov. 1, 5, and 28, 2001 

File: rot_calib_11_01_01.xls 

 Black 

 Rotation Angle ( o ) 

Distance 0 10 20 30 40 50 

(m) Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. 

60 59.966 44 60.006 42 59.942 38 59.962 32 59.982 26 60.062 18 

60 60.026 44 59.962 42 59.982 38 60.062 32 60.042 24 59.962 20 

60 60.006 44 59.966 42 60.002 38 59.942 32 59.902 26 59.922 18 

70 69.957 40 70.017 38 70.037 32 69.977 26 69.937 20 70.057 14 

70 69.977 40 69.997 38 70.017 32 69.977 26 70.077 20 69.937 14 

70 69.977 38 69.997 36 69.997 32 69.937 26 69.937 20 69.897 18 

70 70.017 40 70.017 38 69.997 32 69.987 26 69.997 20 70.237 14 

70 69.997 40 69.997 36 69.997 32 69.937 26 69.897 20 70.137 16 

70 69.977 38 69.937 38 69.977 34 69.917 26 69.937 20 69.957 16 

70 70.017 40 69.917 38 69.957 32 70.057 26 70.037 22 69.977 14 

70 69.997 40 69.937 38 69.977 32 70.017 26 69.897 20 70.077 16 

70 69.977 38 69.957 38 69.937 32 69.937 26 69.917 20 69.917 16 

70 69.997 40 69.997 36 69.937 32 70.077 26 69.957 18 69.997 16 

80 79.992 36 79.017 34 79.932 30 79.997 22 79.837 16 80.017 24 

80 79.997 36 79.972 34 79.932 30 79.987 22 79.957 16 110.057 24 

80 79.997 36 79.957 34 80.017 30 80.037 24 80.017 16 109.857 22 

80 79.997 36 79.972 34 80.017 30 79.937 22 79.972 16 80.137 20 

80 80.012 36 79.997 34 80.032 30 79.832 22 80.037 14 80.112 22 

80 80.017 36 80.012 34 79.977 30 80.037 22 80.037 16 109.817 24 

80 80.017 36 79.972 36 79.997 28 80.012 22 79.917 16 110.077 22 

80 79.997 36 79.997 34 79.977 28 79.997 22 80.117 16 110.037 22 

80 79.977 36 79.997 34 79.932 30 79.997 22 80.017 16 79.997 24 

80 79.952 36 79.977 34 79.977 28 79.957 22 80.237 16 80.177 24 

90 89.977 34 89.977 32 89.957 26 89.937 20 90.097 24 109.297 32 

90 89.977 34 89.977 32 89.977 28 89.977 20 89.977 24 109.337 32 

90 90.037 34 89.977 32 89.997 28 90.017 20 90.097 24 109.317 32 

90 89.997 34 89.997 32 89.897 28 89.957 20 90.157 24 109.377 32 

90 89.977 34 89.957 32 89.857 28 89.977 20 90.097 24 109.317 32 

90 89.997 34 90.057 32 90.057 28 89.897 20 90.137 24 109.257 32 

90 89.957 34 89.977 32 89.937 28 90.017 20 90.177 24 109.437 32 

90 89.977 34 89.957 32 90.037 28 90.017 20 90.077 24 109.277 32 

90 89.917 34 89.957 32 89.997 28 89.897 20 90.017 24 109.397 32 

90 90.017 34 89.977 32 89.997 26 90.037 20 90.077 22 109.397 32 

100 100.017 32 100.037 30 99.997 30 99.997 30 100.137 32 109.257 46 

100 99.917 32 100.037 30 100.057 30 100.077 30 100.197 32 109.277 44 

100 99.997 32 100.017 30 99.917 30 100.097 30 100.157 32 109.237 46 

100 99.957 32 99.957 32 100.057 30 99.977 30 100.137 32 109.257 46 

100 99.977 32 99.997 32 99.977 30 99.917 30 100.317 32 109.317 44 

100 99.997 32 99.937 32 99.937 30 99.997 30 109.217 32 109.257 44 

100 99.997 32 100.017 32 100.017 30 99.997 30 100.237 32 109.237 46 

100 99.917 32 99.917 32 99.937 30 100.057 30 100.117 32 109.277 44 

100 100.057 32 99.937 32 100.097 30 100.017 30 100.317 32 109.277 44 

100 99.937 32 99.957 32 99.997 30 99.977 30 100.137 32 109.277 44 
 101

Table B.5 Angle of Laser Incidence: 10 m to 100 m 

Attic, Bldg. 226 

No Filter

Test Dates: Nov. 1, 5, and 28, 2001 

File: rot_calib_11_01_01.xls

 Black 

 Rotation Angle ( o ) 

Distance 60 70 80 85 90 

(m) Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. 

10 10.063 38 10.063 38 10.063 36 10.003 42 9.702 76 

10 10.083 38 10.023 38 10.063 38 10.003 42 9.622 76 

10 10.063 38 10.023 36 10.063 38 10.003 42 9.702 76 

10 10.023 38 10.043 38 10.043 38 10.023 42 9.582 76 

10 10.003 38 10.043 38 10.083 38 9.942 42 9.742 76 

10 10.043 38 10.023 38 10.063 38 10.043 42 9.642 76 

10 10.043 38 9.962 38 10.043 38 10.023 42 9.762 76 

10 10.023 38 10.003 38 10.103 38 10.023 42 9.722 76 

10 10.023 38 10.023 38 10.023 38 10.063 42 9.642 76 

10 10.083 38 10.043 38 10.023 38 9.982 42 9.722 76 

20 20.002 42 20.022 40 20.062 42 20.022 52 19.702 70 

20 19.962 42 20.042 40 20.082 42 20.002 52 19.642 70 

20 20.042 42 20.062 40 20.062 42 20.042 52 19.662 70 

20 20.022 42 20.022 40 20.082 42 20.022 52 19.682 70 

20 20.042 42 20.062 40 20.042 42 20.022 52 19.662 70 

20 19.982 42 20.002 40 20.042 42 20.002 52 19.622 70 

20 20.062 42 20.022 40 20.022 42 19.982 52 19.682 70 

20 20.022 42 20.062 40 20.002 42 19.982 52 19.682 70 

20 20.002 42 20.022 42 20.062 42 19.982 52 19.662 70 

20 20.042 42 20.022 40 20.102 42 20.042 52 19.702 70 

30 30.011 34 29.946 34 30.006 50 30.046 58 29.886 66 

30 30.071 34 30.011 34 29.966 50 30.046 58 29.886 66 

30 30.011 34 30.015 34 29.966 52 30.046 58 29.886 66 

30 30.011 34 30.026 34 29.966 50 30.086 58 29.886 66 

30 30.026 34 29.966 34 29.986 50 30.106 58 29.886 66 

30 30.051 34 30.011 34 29.986 50 30.066 58 29.886 66 

30 30.026 34 30.026 34 30.026 50 30.091 56 29.906 66 

30 30.031 34 30.111 34 30.006 50 30.066 58 29.906 66 

30 29.991 34 29.971 34 29.946 52 30.146 58 29.946 66 

30 29.966 34 30.006 34 29.986 50 30.126 58 29.866 66 

40 40.046 28 39.986 26 40.086 52 40.002 54 39.842 68 

40 39.946 26 39.966 26 40.146 50 40.042 54 39.802 68 

40 39.946 26 40.106 26 40.006 50 40.106 54 39.782 68 

40 40.006 28 39.966 26 40.146 50 40.082 54 39.762 68 

40 39.966 26 39.926 26 40.062 50 40.182 54 39.862 68 

40 39.966 26 40.006 26 40.022 50 40.162 54 39.762 68 

40 40.006 26 40.102 26 40.066 50 40.142 54 39.762 68 

40 40.086 26 40.046 26 39.982 50 40.062 54 39.742 70 

40 40.006 26 39.986 26 39.966 52 40.142 54 39.722 68 

40 39.946 26 40.046 26 40.062 52 40.042 54 39.842 68 

50 50.077 22 50.197 50 50.237 54 109.377 60 109.337 74 

50 50.157 22 50.177 50 50.157 54 50.317 60 109.337 74 

50 50.057 20 50.157 50 50.037 54 50.137 60 109.337 74 

50 49.877 22 50.257 50 50.057 54 50.077 60 109.377 74 

50 50.037 22 49.977 52 50.297 54 50.237 60 109.317 74 

50 50.017 22 50.137 50 50.117 54 50.077 60 109.277 74 

50 50.077 20 50.137 50 50.317 54 50.317 60 109.337 74 

50 50.057 22 50.237 50 50.317 54 50.257 60 109.317 74 

50 50.117 22 50.217 50 50.197 54 50.337 60 109.317 74 

50 50.077 22 50.077 50 50.177 54 50.197 60 109.337 74 

60 60.062 22 60.082 48 109.982 66 60.142 68 59.902 74 

60 60.002 22 60.342 48 110.042 64 59.922 68 59.642 74 

60 60.042 22 60.362 48 110.022 66 109.762 68 59.662 74 

60 60.122 22 60.222 48 109.922 66 60.102 68 59.962 74 

60 60.022 22 60.282 48 110.022 66 60.162 68 60.042 74 

60 60.142 22 60.182 48 109.962 64 59.902 68 59.782 74 

60 60.022 22 60.162 48 110.022 66 60.122 68 59.702 74 
 102

Table B.5 Angle of Laser Incidence: 10 m to 100 m 

Attic, Bldg. 226 

No Filter

Test Dates: Nov. 1, 5, and 28, 2001 

File: rot_calib_11_01_01.xls

 Black 

 Rotation Angle ( o ) 

Distance 60 70 80 85 90 

(m) Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. Dist. (m) Inten. 

60 60.082 22 60.062 48 109.962 66 60.182 68 59.622 74 

60 60.002 20 60.222 48 109.962 64 60.102 68 59.762 74 

60 60.042 22 60.142 48 110.122 66 60.402 68 59.962 74 

70 70.037 26 109.357 52 109.217 62 109.177 64 109.137 70 

70 70.157 26 109.377 52 109.237 64 109.157 64 109.137 72 

70 70.177 26 109.397 52 109.217 64 109.177 64 109.137 70 

70 70.097 26 109.357 52 109.197 62 109.177 64 109.137 72 

70 69.977 26 109.417 54 109.197 62 109.197 64 109.177 72 

70 70.137 26 109.377 54 109.217 62 109.217 64 109.157 70 

70 70.277 26 109.397 52 109.217 62 109.197 64 109.137 70 

70 70.117 26 109.397 52 109.237 62 109.177 64 109.137 70 

70 70.157 26 109.337 52 109.197 62 109.177 64 109.117 70 

70 70.057 26 109.377 52 109.197 62 109.197 64 109.137 70 

80 111.612 40 109.977 64 109.652 66 109.557 68 109.277 74 

80 111.812 40 109.972 64 109.792 66 109.497 68 109.312 72 

80 80.177 40 110.097 62 109.672 66 109.622 68 109.312 74 

80 111.732 40 109.952 62 109.697 66 109.532 68 109.312 72 

80 111.832 40 110.032 62 109.692 66 109.577 68 109.332 72 

80 111.837 38 109.912 64 109.652 66 109.612 68 109.292 74 

80 111.972 40 110.012 62 109.732 66 109.572 68 109.312 72 

80 111.832 40 109.912 62 109.732 66 109.512 68 109.312 74 

80 111.852 40 109.152 62 109.6923 66 109.572 68 109.272 72 

80 111.637 40 109.992 62 109.697 66 109.572 68 109.312 74 

90 109.277 52 109.157 64 109.137 64 109.177 68 109.137 72 

90 109.317 52 109.137 62 109.077 66 109.117 68 109.117 72 

90 109.297 52 109.157 64 109.117 66 109.097 68 109.097 74 

90 109.277 52 109.157 62 109.137 66 109.097 68 109.117 74 

90 109.297 54 109.177 62 109.157 66 109.097 68 109.097 72 

90 109.277 52 109.117 62 109.097 66 109.137 66 109.117 72 

90 109.257 52 109.177 62 109.137 66 109.117 68 109.097 74 

90 109.277 52 109.157 62 109.117 66 109.137 68 109.117 72 

90 109.217 52 109.157 62 109.097 66 109.117 68 109.137 72 

90 109.277 54 109.197 62 109.077 66 109.117 68 109.097 72 

100 110.257 62 109.637 66 109.457 68 109.317 70 109.217 74 

100 110.197 64 109.637 66 109.457 68 109.337 70 109.237 74 

100 110.177 62 109.737 66 109.497 68 109.417 70 109.237 74 

100 110.257 62 109.737 66 109.437 68 109.397 70 109.257 74 

100 110.177 62 109.617 66 109.457 68 109.357 70 109.257 74 

100 110.217 62 109.637 66 109.457 68 109.357 70 109.217 74 

100 110.137 62 109.597 66 109.497 68 109.357 70 109.257 74 

100 110.177 62 109.557 66 109.417 68 109.317 70 109.277 74 

100 110.277 62 109.677 66 109.457 68 109.397 70 109.237 74 

100 110.257 62 109.677 66 109.457 68 109.357 70 109.217 74 

 

Table B.6a. Data Set 7: Covariance, 0.045o Incremental Angle. 

Attic, Bldg. 226 File: dataset7_covariance_10m_045.xls

Test date: Sept. 03, 2002 

Strip 1 Strip 2 Strip 3 

Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) 

9.999 89.46 39.6 9.999 89.46 39.645 9.958 89.46 39.69 

9.999 89.46 39.6 10.019 89.46 39.645 9.958 89.46 39.69 
 103

Table B.6a. Data Set 7: Covariance, 0.045o Incremental Angle. 

Attic, Bldg. 226 File: dataset7_covariance_10m_045.xls

Test date: Sept. 03, 2002 

Strip 1 Strip 2 Strip 3 

Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) 

10.019 89.46 39.6 9.978 89.46 39.645 10.019 89.46 39.69 

9.978 89.46 39.6 10.039 89.46 39.645 10.019 89.46 39.69 

10.019 89.46 39.6 9.958 89.46 39.645 9.978 89.46 39.69 

9.995 89.46 39.6 9.999 89.46 39.645 10.019 89.46 39.69 

9.954 89.46 39.6 9.974 89.46 39.645 10.019 89.46 39.69 

10.015 89.46 39.6 9.995 89.46 39.645 10.039 89.46 39.69 

9.974 89.46 39.6 9.974 89.46 39.645 9.978 89.46 39.69 

9.954 89.46 39.6 9.974 89.46 39.645 10.019 89.46 39.69 

10.019 89.505 39.6 9.978 89.505 39.645 9.999 89.505 39.69 

9.999 89.505 39.6 9.999 89.505 39.645 9.958 89.505 39.69 

9.978 89.505 39.6 9.999 89.505 39.645 9.958 89.505 39.69 

9.999 89.505 39.6 10.039 89.505 39.645 9.978 89.505 39.69 

9.958 89.505 39.6 9.978 89.505 39.645 10.019 89.505 39.69 

10.019 89.505 39.6 10.019 89.505 39.645 10.019 89.505 39.69 

9.999 89.505 39.6 9.999 89.505 39.645 9.978 89.505 39.69 

9.958 89.505 39.6 9.999 89.505 39.645 9.999 89.505 39.69 

10.019 89.505 39.6 9.978 89.505 39.645 9.999 89.505 39.69 

9.999 89.505 39.6 9.978 89.505 39.645 9.978 89.505 39.69 

9.999 89.55 39.6 10.039 89.55 39.645 10.019 89.55 39.69 

10.019 89.55 39.6 9.999 89.55 39.645 10.019 89.55 39.69 

9.999 89.55 39.6 9.999 89.55 39.645 9.999 89.55 39.69 

10.019 89.55 39.6 10.019 89.55 39.645 9.978 89.55 39.69 

10.015 89.55 39.6 9.999 89.55 39.645 10.019 89.55 39.69 

9.995 89.55 39.6 9.999 89.55 39.645 9.974 89.55 39.69 

10.015 89.55 39.6 10.015 89.55 39.645 9.995 89.55 39.69 

9.995 89.55 39.6 10.015 89.55 39.645 10.015 89.55 39.69 

10.015 89.55 39.6 10.015 89.55 39.645 10.015 89.55 39.69 

10.015 89.55 39.6 10.015 89.55 39.645 10.015 89.55 39.69 

9.958 89.595 39.6 10.019 89.595 39.645 10.019 89.595 39.699 

9.999 89.595 39.6 9.958 89.595 39.645 9.999 89.595 39.699 

9.978 89.595 39.6 9.999 89.595 39.645 9.999 89.595 39.69 

9.978 89.595 39.6 9.958 89.595 39.645 9.999 89.595 39.69 

9.978 89.595 39.6 9.999 89.595 39.645 9.999 89.595 39.69 

10.039 89.595 39.6 10.019 89.595 39.645 9.999 89.595 39.69 

9.999 89.595 39.6 9.999 89.595 39.645 9.999 89.595 39.69 

9.978 89.595 39.6 9.978 89.595 39.645 10.039 89.595 39.69 

10.019 89.595 39.6 9.978 89.595 39.645 9.978 89.595 39.69 

9.999 89.595 39.6 9.999 89.595 39.645 9.999 89.595 39.69 

9.978 89.64 39.6 9.978 89.64 39.645 9.958 89.64 39.699 

10.039 89.64 39.6 9.999 89.64 39.645 9.978 89.64 39.699 

9.999 89.64 39.6 10.019 89.64 39.645 10.039 89.64 39.699 

10.019 89.64 39.6 9.999 89.64 39.645 10.019 89.64 39.699 

9.978 89.64 39.6 10.015 89.64 39.645 9.978 89.64 39.699 

9.978 89.64 39.6 9.954 89.64 39.645 10.039 89.64 39.699 

9.999 89.64 39.6 10.015 89.64 39.645 10.019 89.64 39.699 

9.978 89.64 39.6 9.995 89.64 39.645 9.978 89.64 39.699 

10.035 89.64 39.6 10.015 89.64 39.645 9.999 89.64 39.699 

10.015 89.64 39.6 10.035 89.64 39.645 10.019 89.64 39.699 

10.019 89.685 39.6 10.019 89.685 39.645 9.999 89.685 39.699 

9.999 89.685 39.6 9.999 89.685 39.645 9.999 89.685 39.699 
 104

Table B.6a. Data Set 7: Covariance, 0.045o Incremental Angle. 

Attic, Bldg. 226 File: dataset7_covariance_10m_045.xls

Test date: Sept. 03, 2002 

Strip 1 Strip 2 Strip 3 

Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) 

10.019 89.685 39.6 9.999 89.685 39.645 9.978 89.685 39.699 

9.999 89.685 39.6 9.978 89.685 39.645 9.954 89.685 39.699 

10.015 89.685 39.6 9.999 89.685 39.645 9.995 89.685 39.699 

9.995 89.685 39.6 10.019 89.685 39.645 9.954 89.685 39.699 

9.974 89.685 39.6 9.999 89.685 39.645 9.974 89.685 39.699 

10.015 89.685 39.6 9.999 89.685 39.645 10.015 89.685 39.699 

9.954 89.685 39.6 9.999 89.685 39.645 10.015 89.685 39.699 

9.954 89.685 39.6 9.999 89.685 39.645 10.035 89.685 39.699 

9.999 89.73 39.6 10.019 89.73 39.645 9.958 89.73 39.699 

10.039 89.73 39.6 9.958 89.73 39.645 10.019 89.73 39.699 

9.999 89.73 39.6 10.019 89.73 39.645 10.019 89.73 39.699 

10.019 89.73 39.6 9.999 89.73 39.645 10.019 89.73 39.699 

9.999 89.73 39.6 9.999 89.73 39.645 9.978 89.73 39.699 

9.978 89.73 39.6 10.019 89.73 39.645 10.019 89.73 39.699 

10.019 89.73 39.6 10.019 89.73 39.645 10.019 89.73 39.699 

9.999 89.73 39.6 9.999 89.73 39.645 9.978 89.73 39.699 

10.015 89.73 39.6 9.999 89.73 39.645 9.978 89.73 39.699 

10.015 89.73 39.6 10.015 89.73 39.645 10.015 89.73 39.699 

9.978 89.775 39.6 10.019 89.775 39.645 9.999 89.775 39.699 

10.019 89.775 39.6 9.999 89.775 39.645 9.978 89.775 39.699 

10.019 89.775 39.6 10.019 89.775 39.645 10.019 89.775 39.699 

10.019 89.775 39.6 10.019 89.775 39.645 9.999 89.775 39.699 

9.978 89.775 39.6 9.999 89.775 39.645 10.019 89.775 39.699 

9.978 89.775 39.6 10.019 89.775 39.645 9.999 89.775 39.699 

9.999 89.775 39.6 10.039 89.775 39.645 10.019 89.775 39.699 

9.958 89.775 39.6 9.999 89.775 39.645 10.015 89.775 39.699 

9.995 89.775 39.6 9.999 89.775 39.645 10.015 89.775 39.699 

9.995 89.775 39.6 9.995 89.775 39.645 10.015 89.775 39.699 

9.958 89.82 39.6 9.999 89.82 39.645 10.019 89.82 39.699 

10.019 89.82 39.6 10.019 89.82 39.645 9.999 89.82 39.699 

9.978 89.82 39.6 9.978 89.82 39.645 9.958 89.82 39.699 

9.999 89.82 39.6 9.978 89.82 39.645 9.958 89.82 39.699 

9.978 89.82 39.6 9.978 89.82 39.645 9.999 89.82 39.699 

10.019 89.82 39.6 9.999 89.82 39.645 10.019 89.82 39.699 

9.999 89.82 39.6 9.958 89.82 39.645 10.039 89.82 39.699 

9.958 89.82 39.6 9.958 89.82 39.645 9.999 89.82 39.699 

9.999 89.82 39.6 9.999 89.82 39.645 9.978 89.82 39.699 

9.999 89.82 39.6 9.958 89.82 39.645 10.015 89.82 39.699 

9.999 89.865 39.6 9.999 89.865 39.645 10.019 89.865 39.699 

9.978 89.865 39.6 9.978 89.865 39.645 10.019 89.865 39.699 

9.999 89.865 39.6 9.999 89.865 39.645 9.999 89.865 39.699 

10.019 89.865 39.6 9.999 89.865 39.645 9.958 89.865 39.699 

9.978 89.865 39.6 10.019 89.865 39.645 9.995 89.865 39.699 

9.954 89.865 39.6 9.999 89.865 39.645 9.954 89.865 39.69 

9.995 89.865 39.6 9.999 89.865 39.645 9.974 89.865 39.69 

9.995 89.865 39.6 9.999 89.865 39.645 9.995 89.865 39.69 

10.015 89.865 39.6 9.999 89.865 39.645 10.015 89.865 39.69 

10.015 89.865 39.6 9.999 89.865 39.645 10.015 89.865 39.69 

9.978 89.91 39.6 9.958 89.91 39.645 9.999 89.91 39.69 

9.999 89.91 39.6 10.019 89.91 39.645 9.978 89.91 39.69 
 105

Table B.6a. Data Set 7: Covariance, 0.045o Incremental Angle. 

Attic, Bldg. 226 File: dataset7_covariance_10m_045.xls

Test date: Sept. 03, 2002 

Strip 1 Strip 2 Strip 3 

Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) 

9.978 89.91 39.6 9.958 89.91 39.645 9.978 89.91 39.69 

10.019 89.91 39.6 10.019 89.91 39.645 9.999 89.91 39.69 

10.019 89.91 39.6 9.999 89.91 39.645 9.999 89.91 39.69 

9.999 89.91 39.6 9.958 89.91 39.645 10.019 89.91 39.69 

9.978 89.91 39.6 9.958 89.91 39.645 10.019 89.91 39.69 

10.019 89.91 39.6 9.958 89.91 39.645 9.999 89.91 39.69 

9.999 89.91 39.6 10.019 89.91 39.645 9.999 89.91 39.69 

9.978 89.91 39.6 10.015 89.91 39.645 10.019 89.91 39.69 

9.978 89.955 39.6 10.019 89.955 39.645 9.978 89.955 39.69 

10.019 89.955 39.6 9.978 89.955 39.645 9.999 89.955 39.69 

9.958 89.955 39.6 10.019 89.955 39.645 9.978 89.955 39.69 

9.999 89.955 39.6 9.978 89.955 39.645 10.019 89.955 39.69 

10.039 89.955 39.6 9.999 89.955 39.645 9.958 89.955 39.69 

9.999 89.955 39.6 10.019 89.955 39.645 10.019 89.955 39.69 

9.958 89.955 39.6 10.019 89.955 39.645 10.019 89.955 39.69 

10.019 89.955 39.6 10.019 89.955 39.645 9.978 89.955 39.69 

9.999 89.955 39.6 9.999 89.955 39.645 9.974 89.955 39.69 

9.954 89.955 39.6 10.019 89.955 39.645 9.995 89.955 39.69 

9.958 90 39.6 9.978 90 39.645 9.978 90 39.69 

9.999 90 39.6 10.019 90 39.645 9.958 90 39.69 

10.039 90 39.6 9.999 90 39.645 10.039 90 39.69 

9.978 90 39.6 9.978 90 39.645 10.039 90 39.69 

10.019 90 39.6 9.978 90 39.645 9.978 90 39.69 

9.999 90 39.6 10.019 90 39.645 10.019 90 39.69 

9.958 90 39.6 10.019 90 39.645 10.019 90 39.69 

10.019 90 39.6 10.019 90 39.645 10.039 90 39.69 

9.938 90 39.6 9.974 90 39.645 9.978 90 39.69 

10.019 90 39.6 9.995 90 39.645 10.019 90 39.69 

9.999 90.045 39.6 9.999 90.045 39.645 10.019 90.045 39.69 

10.019 90.045 39.6 9.958 90.045 39.645 9.999 90.045 39.699 

9.978 90.045 39.6 10.019 90.045 39.645 9.978 90.045 39.69 

9.999 90.045 39.6 9.978 90.045 39.645 9.978 90.045 39.69 

9.958 90.045 39.6 9.999 90.045 39.645 9.999 90.045 39.69 

10.019 90.045 39.6 10.019 90.045 39.645 10.019 90.045 39.69 

10.019 90.045 39.6 9.999 90.045 39.645 9.999 90.045 39.69 

9.958 90.045 39.6 9.999 90.045 39.645 9.978 90.045 39.69 

9.995 90.045 39.6 10.019 90.045 39.645 9.974 90.045 39.69 

9.954 90.045 39.6 10.019 90.045 39.645 10.015 90.045 39.69 

10.019 90.09 39.6 9.978 90.09 39.645 9.999 90.09 39.699 

10.019 90.09 39.6 9.958 90.09 39.645 10.019 90.09 39.699 

9.999 90.09 39.6 10.019 90.09 39.645 9.999 90.09 39.699 

10.019 90.09 39.6 9.999 90.09 39.645 9.999 90.09 39.699 

9.958 90.09 39.6 10.019 90.09 39.645 10.019 90.09 39.699 

10.019 90.09 39.6 10.019 90.09 39.645 9.978 90.09 39.699 

10.019 90.09 39.6 10.015 90.09 39.645 9.978 90.09 39.699 

9.958 90.09 39.6 10.015 90.09 39.645 10.019 90.09 39.69 

9.999 90.09 39.6 10.015 90.09 39.645 9.978 90.09 39.69 

9.978 90.09 39.6 10.015 90.09 39.645 9.958 90.09 39.69 

10.019 90.135 39.6 10.019 90.135 39.645 10.019 90.135 39.699 

10.019 90.135 39.6 10.019 90.135 39.645 10.019 90.135 39.699 
 106

Table B.6a. Data Set 7: Covariance, 0.045o Incremental Angle. 

Attic, Bldg. 226 File: dataset7_covariance_10m_045.xls

Test date: Sept. 03, 2002 

Strip 1 Strip 2 Strip 3 

Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) 

9.978 90.135 39.6 10.019 90.135 39.645 9.958 90.135 39.699 

9.999 90.135 39.6 10.019 90.135 39.645 9.999 90.135 39.699 

10.019 90.135 39.6 10.019 90.135 39.645 10.019 90.135 39.699 

10.019 90.135 39.6 10.019 90.135 39.645 9.978 90.135 39.699 

10.019 90.135 39.6 10.019 90.135 39.645 9.938 90.135 39.699 

10.019 90.135 39.6 10.019 90.135 39.645 10.019 90.135 39.699 

9.978 90.135 39.6 10.019 90.135 39.645 9.999 90.135 39.699 

9.978 90.135 39.6 10.019 90.135 39.645 9.995 90.135 39.699 

9.999 90.18 39.6 10.019 90.18 39.645 10.019 90.18 39.699 

10.019 90.18 39.6 9.958 90.18 39.645 9.999 90.18 39.699 

9.958 90.18 39.6 10.019 90.18 39.645 9.958 90.18 39.699 

9.999 90.18 39.6 10.019 90.18 39.645 9.958 90.18 39.699 

10.019 90.18 39.6 10.019 90.18 39.645 9.999 90.18 39.699 

10.019 90.18 39.6 10.035 90.18 39.645 9.978 90.18 39.699 

9.978 90.18 39.6 10.015 90.18 39.645 10.019 90.18 39.699 

10.019 90.18 39.6 9.954 90.18 39.645 9.999 90.18 39.699 

9.978 90.18 39.6 10.035 90.18 39.645 9.999 90.18 39.699 

9.958 90.18 39.6 10.015 90.18 39.645 9.999 90.18 39.699 

9.978 90.225 39.6 9.999 90.225 39.645 9.978 90.225 39.699 

10.019 90.225 39.6 9.999 90.225 39.645 9.999 90.225 39.699 

10.019 90.225 39.6 9.999 90.225 39.645 10.019 90.225 39.699 

9.978 90.225 39.6 9.978 90.225 39.645 9.999 90.225 39.699 

9.999 90.225 39.6 9.999 90.225 39.645 10.019 90.225 39.699 

9.978 90.225 39.6 9.999 90.225 39.645 9.999 90.225 39.699 

10.019 90.225 39.6 10.019 90.225 39.645 9.999 90.225 39.699 

9.999 90.225 39.6 10.019 90.225 39.645 9.999 90.225 39.699 

10.035 90.225 39.6 9.999 90.225 39.645 9.999 90.225 39.699 

9.974 90.225 39.6 10.019 90.225 39.645 9.974 90.225 39.699 

9.999 90.27 39.6 9.999 90.27 39.645 10.019 90.27 39.699 

9.958 90.27 39.6 9.958 90.27 39.645 10.019 90.27 39.699 

9.958 90.27 39.6 9.999 90.27 39.645 9.978 90.27 39.699 

9.999 90.27 39.6 9.999 90.27 39.645 9.958 90.27 39.699 

10.019 90.27 39.6 9.995 90.27 39.645 9.978 90.27 39.699 

9.999 90.27 39.6 10.015 90.27 39.645 10.019 90.27 39.699 

9.999 90.27 39.6 10.015 90.27 39.645 9.978 90.27 39.699 

10.019 90.27 39.6 10.015 90.27 39.645 9.958 90.27 39.699 

9.999 90.27 39.6 10.015 90.27 39.645 9.978 90.27 39.699 

9.999 90.27 39.6 10.015 90.27 39.645 10.019 90.27 39.699 

9.999 90.315 39.6 9.999 90.315 39.645 10.019 90.315 39.699 

10.019 90.315 39.6 9.978 90.315 39.645 9.999 90.315 39.699 

9.978 90.315 39.6 10.019 90.315 39.645 10.019 90.315 39.699 

9.958 90.315 39.6 10.019 90.315 39.645 10.019 90.315 39.699 

10.015 90.315 39.6 10.019 90.315 39.645 9.978 90.315 39.699 

9.999 90.315 39.6 9.978 90.315 39.645 10.019 90.315 39.699 

9.974 90.315 39.6 10.059 90.315 39.645 10.015 90.315 39.699 

10.015 90.315 39.6 9.999 90.315 39.645 9.974 90.315 39.699 

9.974 90.315 39.6 10.015 90.315 39.645 9.995 90.315 39.699 

10.015 90.315 39.6 9.974 90.315 39.645 10.015 90.315 39.699 

9.958 90.36 39.6 10.019 90.36 39.645 9.999 90.36 39.699 

10.019 90.36 39.6 9.999 90.36 39.645 9.978 90.36 39.699 
 107

Table B.6a. Data Set 7: Covariance, 0.045o Incremental Angle. 

Attic, Bldg. 226 File: dataset7_covariance_10m_045.xls

Test date: Sept. 03, 2002 

Strip 1 Strip 2 Strip 3 

Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) 

10.019 90.36 39.6 9.978 90.36 39.645 10.019 90.36 39.699 

10.019 90.36 39.6 10.019 90.36 39.645 10.019 90.36 39.699 

9.978 90.36 39.6 9.978 90.36 39.645 9.999 90.36 39.699 

9.978 90.36 39.6 9.999 90.36 39.645 9.999 90.36 39.699 

10.039 90.36 39.6 9.958 90.36 39.645 9.958 90.36 39.699 

10.019 90.36 39.6 9.999 90.36 39.645 10.019 90.36 39.699 

10.019 90.36 39.6 9.978 90.36 39.645 10.019 90.36 39.699 

10.015 90.36 39.6 9.995 90.36 39.645 10.019 90.36 39.699 

9.999 90.405 39.6 9.999 90.405 39.645 9.999 90.405 39.699 

10.039 90.405 39.6 9.999 90.405 39.645 9.999 90.405 39.699 

9.978 90.405 39.6 9.999 90.405 39.645 10.019 90.405 39.699 

9.978 90.405 39.6 9.978 90.405 39.645 10.019 90.405 39.69 

10.035 90.405 39.6 9.999 90.405 39.645 9.974 90.405 39.69 

10.015 90.405 39.6 10.019 90.405 39.645 10.015 90.405 39.69 

9.974 90.405 39.6 10.019 90.405 39.645 10.015 90.405 39.69 

10.015 90.405 39.6 10.019 90.405 39.645 10.035 90.405 39.69 

9.954 90.405 39.6 9.999 90.405 39.645 9.974 90.405 39.69 

9.974 90.405 39.6 9.995 90.405 39.645 9.974 90.405 39.69 

9.978 90.45 39.6 9.999 90.45 39.645 9.999 90.45 39.69 

10.019 90.45 39.6 10.019 90.45 39.645 9.978 90.45 39.69 

9.978 90.45 39.6 9.999 90.45 39.645 9.978 90.45 39.69 

9.978 90.45 39.6 9.978 90.45 39.645 10.019 90.45 39.69 

10.019 90.45 39.6 9.978 90.45 39.645 9.978 90.45 39.69 

10.019 90.45 39.6 9.999 90.45 39.645 10.019 90.45 39.69 

9.978 90.45 39.6 9.978 90.45 39.645 9.999 90.45 39.69 

9.999 90.45 39.6 9.978 90.45 39.645 9.978 90.45 39.69 

9.978 90.45 39.6 9.978 90.45 39.645 9.999 90.45 39.69 

9.999 90.45 39.6 9.974 90.45 39.645 10.019 90.45 39.69 

10.019 90.495 39.6 9.999 90.495 39.645 9.978 90.495 39.69 

10.019 90.495 39.6 9.999 90.495 39.645 10.019 90.495 39.69 

9.999 90.495 39.6 9.978 90.495 39.645 9.999 90.495 39.69 

10.019 90.495 39.6 10.019 90.495 39.645 10.019 90.495 39.69 

9.958 90.495 39.6 10.039 90.495 39.645 10.019 90.495 39.69 

10.019 90.495 39.6 9.999 90.495 39.645 9.999 90.495 39.69 

10.019 90.495 39.6 9.978 90.495 39.645 10.019 90.495 39.69 

10.015 90.495 39.6 9.999 90.495 39.645 10.015 90.495 39.69 

9.995 90.495 39.6 9.999 90.495 39.645 10.015 90.495 39.69 

9.995 90.495 39.6 9.978 90.495 39.645 9.995 90.495 39.69 

9.999 90.54 39.6 10.019 90.54 39.636 9.978 90.54 39.699 

9.999 90.54 39.6 9.999 90.54 39.645 9.999 90.54 39.699 

9.978 90.54 39.6 10.019 90.54 39.645 10.019 90.54 39.699 

9.978 90.54 39.6 9.995 90.54 39.645 9.999 90.54 39.69 

10.019 90.54 39.6 10.015 90.54 39.645 10.019 90.54 39.69 

9.999 90.54 39.6 10.015 90.54 39.645 10.019 90.54 39.69 

9.978 90.54 39.6 9.954 90.54 39.645 9.978 90.54 39.69 

10.039 90.54 39.6 9.954 90.54 39.645 9.999 90.54 39.69 

9.999 90.54 39.6 10.015 90.54 39.645 10.019 90.54 39.69 

10.019 90.54 39.6 9.974 90.54 39.645 10.039 90.54 39.69 
 108

Table B.6b. Data Set 7: Covariance, 0.090o Incremental Angle.

Attic, Bldg. 226 File: dataset7_covariance_10m_090.xls

Test date: Sept. 3, 2002 

Strip 1 Strip 2 Strip 3 

Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) 

10.015 88.92 39.6 10.035 88.92 39.69 10.03 88.92 39.78 

9.995 88.92 39.6 9.995 88.92 39.69 9.969 88.92 39.78 

10.015 88.92 39.6 10.035 88.92 39.69 10.01 88.92 39.78 

9.974 88.92 39.6 10.01 88.92 39.69 9.989 88.92 39.78 

9.989 88.92 39.6 10.03 88.92 39.69 9.989 88.92 39.78 

10.01 88.92 39.6 10.03 88.92 39.69 9.969 88.92 39.78 

10.01 88.92 39.6 10.03 88.92 39.69 9.969 88.92 39.78 

9.969 88.92 39.6 10.03 88.92 39.69 9.989 88.92 39.78 

9.969 88.92 39.6 10.01 88.92 39.69 10.01 88.92 39.78 

10.01 88.92 39.6 10.03 88.92 39.69 9.969 88.92 39.78 

9.974 89.01 39.6 10.015 89.01 39.69 9.995 89.01 39.78 

10.035 89.01 39.6 10.015 89.01 39.69 10.015 89.01 39.78 

10.035 89.01 39.6 9.974 89.01 39.69 10.035 89.01 39.78 

9.974 89.01 39.6 10.015 89.01 39.69 9.974 89.01 39.78 

9.995 89.01 39.6 10.015 89.01 39.69 10.015 89.01 39.78 

9.974 89.01 39.6 10.015 89.01 39.69 10.035 89.01 39.78 

9.974 89.01 39.6 10.01 89.01 39.69 10.015 89.01 39.78 

9.989 89.01 39.6 10.01 89.01 39.69 10.01 89.01 39.78 

10.01 89.01 39.6 10.01 89.01 39.69 9.989 89.01 39.78 

10.01 89.01 39.6 9.989 89.01 39.69 10.01 89.01 39.78 

9.974 89.1 39.6 9.954 89.1 39.69 10.015 89.1 39.78 

10.015 89.1 39.6 9.989 89.1 39.69 10.015 89.1 39.78 

9.974 89.1 39.6 9.969 89.1 39.69 10.035 89.1 39.78 

9.995 89.1 39.6 10.01 89.1 39.69 10.035 89.1 39.78 

9.995 89.1 39.6 10.01 89.1 39.69 10.015 89.1 39.78 

10.015 89.1 39.6 9.969 89.1 39.69 10.035 89.1 39.78 

10.015 89.1 39.6 9.969 89.1 39.69 10.015 89.1 39.78 

10.01 89.1 39.6 10.01 89.1 39.69 9.995 89.1 39.78 

10.01 89.1 39.6 9.969 89.1 39.69 9.995 89.1 39.78 

10.01 89.1 39.6 10.01 89.1 39.69 10.03 89.1 39.78 

10.015 89.19 39.6 10.015 89.19 39.69 9.995 89.19 39.78 

9.974 89.19 39.6 9.995 89.19 39.69 9.995 89.19 39.78 

10.015 89.19 39.6 9.974 89.19 39.69 10.015 89.19 39.78 

9.974 89.19 39.6 9.995 89.19 39.69 10.015 89.19 39.78 

10.015 89.19 39.6 10.015 89.19 39.69 10.015 89.19 39.78 

10.015 89.19 39.6 10.015 89.19 39.69 10.035 89.19 39.78 

10.015 89.19 39.6 10.01 89.19 39.69 10.015 89.19 39.78 

9.974 89.19 39.6 9.969 89.19 39.69 10.01 89.19 39.78 

9.969 89.19 39.6 10.01 89.19 39.69 9.989 89.19 39.78 

9.969 89.19 39.6 9.989 89.19 39.69 10.01 89.19 39.78 

9.995 89.28 39.6 10.035 89.28 39.69 10.015 89.28 39.78 

10.015 89.28 39.6 10.015 89.28 39.69 10.015 89.28 39.78 

10.015 89.28 39.6 10.015 89.28 39.69 9.995 89.28 39.78 

10.035 89.28 39.6 10.015 89.28 39.69 9.995 89.28 39.78 

10.015 89.28 39.6 10.015 89.28 39.69 10.015 89.28 39.78 

10.015 89.28 39.6 10.015 89.28 39.69 10.015 89.28 39.78 

9.995 89.28 39.6 9.995 89.28 39.69 10.035 89.28 39.78 

10.015 89.28 39.6 10.015 89.28 39.69 9.989 89.28 39.78 

10.01 89.28 39.6 10.01 89.28 39.69 9.995 89.28 39.78 
 109

Table B.6b. Data Set 7: Covariance, 0.090o Incremental Angle.

Attic, Bldg. 226 File: dataset7_covariance_10m_090.xls

Test date: Sept. 3, 2002 

Strip 1 Strip 2 Strip 3 

Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) 

9.969 89.28 39.6 10.01 89.28 39.69 9.995 89.28 39.78 

9.995 89.37 39.6 9.974 89.37 39.69 10.015 89.37 39.78 

9.995 89.37 39.6 10.015 89.37 39.69 9.974 89.37 39.78 

10.015 89.37 39.6 10.015 89.37 39.69 9.974 89.37 39.78 

10.055 89.37 39.6 10.015 89.37 39.69 9.974 89.37 39.78 

10.035 89.37 39.6 10.01 89.37 39.69 10.015 89.37 39.78 

10.035 89.37 39.6 9.969 89.37 39.69 10.015 89.37 39.78 

9.974 89.37 39.6 9.969 89.37 39.69 10.035 89.37 39.78 

10.035 89.37 39.6 10.01 89.37 39.69 10.015 89.37 39.78 

10.015 89.37 39.6 9.989 89.37 39.69 9.995 89.37 39.78 

9.989 89.37 39.6 10.01 89.37 39.69 10.01 89.37 39.78 

10.015 89.46 39.6 10.035 89.46 39.69 10.015 89.46 39.78 

10.015 89.46 39.6 9.954 89.46 39.69 10.015 89.46 39.78 

9.954 89.46 39.6 10.035 89.46 39.69 9.974 89.46 39.78 

10.015 89.46 39.6 10.015 89.46 39.69 9.974 89.46 39.78 

10.035 89.46 39.6 9.989 89.46 39.69 10.035 89.46 39.78 

10.015 89.46 39.6 9.989 89.46 39.69 10.015 89.46 39.78 

10.015 89.46 39.6 10.03 89.46 39.69 10.015 89.46 39.78 

9.974 89.46 39.6 9.989 89.46 39.69 10.015 89.46 39.78 

9.995 89.46 39.6 10.01 89.46 39.69 9.995 89.46 39.78 

10.055 89.46 39.6 9.989 89.46 39.69 9.995 89.46 39.78 

9.995 89.55 39.6 10.035 89.55 39.69 10.015 89.55 39.78 

10.015 89.55 39.6 10.015 89.55 39.69 10.035 89.55 39.78 

10.035 89.55 39.6 9.974 89.55 39.69 10.035 89.55 39.78 

9.974 89.55 39.6 9.995 89.55 39.69 10.015 89.55 39.78 

10.015 89.55 39.6 9.995 89.55 39.69 10.015 89.55 39.78 

10.015 89.55 39.6 9.974 89.55 39.69 9.974 89.55 39.78 

10.015 89.55 39.6 10.01 89.55 39.69 9.974 89.55 39.78 

10.015 89.55 39.6 10.01 89.55 39.69 10.035 89.55 39.78 

10.035 89.55 39.6 9.949 89.55 39.69 10.015 89.55 39.78 

10.01 89.55 39.6 10.03 89.55 39.69 9.974 89.55 39.78 

10.015 89.64 39.6 10.055 89.64 39.69 10.015 89.64 39.78 

10.035 89.64 39.6 10.015 89.64 39.69 10.015 89.64 39.78 

10.015 89.64 39.6 9.995 89.64 39.69 10.015 89.64 39.78 

9.974 89.64 39.6 10.015 89.64 39.69 10.015 89.64 39.78 

9.974 89.64 39.6 9.974 89.64 39.69 9.974 89.64 39.78 

9.974 89.64 39.6 9.995 89.64 39.69 10.015 89.64 39.78 

9.974 89.64 39.6 9.974 89.64 39.69 9.974 89.64 39.78 

10.01 89.64 39.6 10.015 89.64 39.69 10.03 89.64 39.78 

10.01 89.64 39.6 10.015 89.64 39.69 10.03 89.64 39.78 

10.01 89.64 39.6 9.969 89.64 39.69 9.969 89.64 39.78 

10.035 89.73 39.6 10.015 89.73 39.69 10.015 89.73 39.78 

10.015 89.73 39.6 10.015 89.73 39.69 9.995 89.73 39.78 

10.015 89.73 39.6 10.035 89.73 39.69 10.015 89.73 39.78 

9.989 89.73 39.6 10.015 89.73 39.69 10.015 89.73 39.78 

9.974 89.73 39.6 9.995 89.73 39.69 9.989 89.73 39.78 

10.01 89.73 39.6 9.974 89.73 39.69 9.995 89.73 39.78 

10.01 89.73 39.6 9.974 89.73 39.69 9.969 89.73 39.78 

10.01 89.73 39.6 10.01 89.73 39.69 9.969 89.73 39.78 

10.01 89.73 39.6 10.03 89.73 39.69 10.03 89.73 39.78 
 110

Table B.6b. Data Set 7: Covariance, 0.090o Incremental Angle.

Attic, Bldg. 226 File: dataset7_covariance_10m_090.xls

Test date: Sept. 3, 2002 

Strip 1 Strip 2 Strip 3 

Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) 

10.01 89.73 39.6 10.01 89.73 39.69 9.969 89.73 39.78 

10.015 89.82 39.6 9.974 89.82 39.69 10.015 89.82 39.78 

10.015 89.82 39.6 9.954 89.82 39.69 9.995 89.82 39.78 

10.015 89.82 39.6 10.015 89.82 39.69 10.015 89.82 39.78 

10.015 89.82 39.6 9.974 89.82 39.69 10.015 89.82 39.78 

9.974 89.82 39.6 10.015 89.82 39.69 10.015 89.82 39.78 

9.989 89.82 39.6 9.995 89.82 39.69 9.969 89.82 39.78 

9.969 89.82 39.6 10.01 89.82 39.69 9.969 89.82 39.78 

10.01 89.82 39.6 9.969 89.82 39.69 10.01 89.82 39.78 

10.01 89.82 39.6 10.01 89.82 39.69 10.01 89.82 39.78 

10.01 89.82 39.6 9.989 89.82 39.69 10.01 89.82 39.78 

9.995 89.91 39.6 9.995 89.91 39.69 9.954 89.91 39.78 

9.974 89.91 39.6 9.995 89.91 39.69 10.015 89.91 39.78 

9.974 89.91 39.6 9.995 89.91 39.69 9.989 89.91 39.78 

10.015 89.91 39.6 10.035 89.91 39.69 10.03 89.91 39.78 

9.989 89.91 39.6 9.949 89.91 39.69 10.03 89.91 39.78 

10.01 89.91 39.6 9.989 89.91 39.69 9.974 89.91 39.78 

9.989 89.91 39.6 9.969 89.91 39.69 9.969 89.91 39.78 

10.01 89.91 39.6 10.01 89.91 39.69 10.01 89.91 39.78 

10.01 89.91 39.6 9.989 89.91 39.69 10.03 89.91 39.78 

10.01 89.91 39.6 9.969 89.91 39.69 10.03 89.91 39.78 

9.995 90 39.6 9.974 90 39.69 10.015 90 39.78 

10.035 90 39.6 9.969 90 39.69 10.015 90 39.78 

9.995 90 39.6 9.974 90 39.69 10.015 90 39.78 

10.01 90 39.6 10.01 90 39.69 10.01 90 39.78 

9.989 90 39.6 9.989 90 39.69 10.015 90 39.78 

9.989 90 39.6 9.989 90 39.69 10.01 90 39.78 

10.01 90 39.6 9.969 90 39.69 9.989 90 39.78 

10.01 90 39.6 10.01 90 39.69 9.989 90 39.78 

10.01 90 39.6 9.969 90 39.69 10.01 90 39.78 

10.03 90 39.6 10.03 90 39.69 9.969 90 39.78 

10.015 90.09 39.6 9.995 90.09 39.69 10.015 90.09 39.78 

9.995 90.09 39.6 10.015 90.09 39.69 10.015 90.09 39.78 

9.954 90.09 39.6 10.015 90.09 39.69 9.974 90.09 39.78 

10.015 90.09 39.6 10.015 90.09 39.69 9.969 90.09 39.78 

10.01 90.09 39.6 9.989 90.09 39.69 10.01 90.09 39.78 

10.03 90.09 39.6 9.989 90.09 39.69 10.01 90.09 39.78 

10.01 90.09 39.6 10.01 90.09 39.69 10.01 90.09 39.78 

9.969 90.09 39.6 9.949 90.09 39.69 10.01 90.09 39.78 

9.969 90.09 39.6 9.969 90.09 39.69 10.01 90.09 39.78 

9.989 90.09 39.6 10.01 90.09 39.69 10.01 90.09 39.78 

10.015 90.18 39.6 10.015 90.18 39.69 9.995 90.18 39.78 

9.974 90.18 39.6 10.015 90.18 39.69 9.995 90.18 39.78 

9.995 90.18 39.6 10.015 90.18 39.69 10.015 90.18 39.78 

9.974 90.18 39.6 10.015 90.18 39.69 10.015 90.18 39.78 

9.969 90.18 39.6 9.969 90.18 39.69 9.989 90.18 39.78 

9.969 90.18 39.6 9.969 90.18 39.69 9.969 90.18 39.78 

9.989 90.18 39.6 10.01 90.18 39.69 9.969 90.18 39.78 

10.01 90.18 39.6 10.01 90.18 39.69 9.969 90.18 39.78 

10.03 90.18 39.6 10.05 90.18 39.69 9.969 90.18 39.78 
 111

Table B.6b. Data Set 7: Covariance, 0.090o Incremental Angle.

Attic, Bldg. 226 File: dataset7_covariance_10m_090.xls

Test date: Sept. 3, 2002 

Strip 1 Strip 2 Strip 3 

Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) 

10.01 90.18 39.6 10.03 90.18 39.69 9.989 90.18 39.78 

10.015 90.27 39.6 9.954 90.27 39.69 9.974 90.27 39.78 

10.015 90.27 39.6 9.995 90.27 39.69 10.035 90.27 39.78 

10.035 90.27 39.6 9.954 90.27 39.69 9.974 90.27 39.78 

9.995 90.27 39.6 9.995 90.27 39.69 9.995 90.27 39.78 

9.995 90.27 39.6 10.015 90.27 39.69 10.015 90.27 39.78 

10.015 90.27 39.6 9.995 90.27 39.69 9.995 90.27 39.78 

10.015 90.27 39.6 10.015 90.27 39.69 10.015 90.27 39.78 

10.03 90.27 39.6 9.974 90.27 39.69 10.015 90.27 39.78 

9.969 90.27 39.6 9.969 90.27 39.69 9.989 90.27 39.78 

9.969 90.27 39.6 10.03 90.27 39.69 10.01 90.27 39.78 

10.015 90.36 39.6 9.954 90.36 39.69 10.015 90.36 39.78 

10.015 90.36 39.6 10.035 90.36 39.69 10.015 90.36 39.78 

10.015 90.36 39.6 10.015 90.36 39.69 9.974 90.36 39.78 

9.995 90.36 39.6 10.015 90.36 39.69 10.015 90.36 39.78 

10.015 90.36 39.6 9.974 90.36 39.69 10.015 90.36 39.78 

10.015 90.36 39.6 9.974 90.36 39.69 10.015 90.36 39.78 

10.035 90.36 39.6 9.989 90.36 39.69 10.015 90.36 39.78 

9.974 90.36 39.6 10.01 90.36 39.69 10.015 90.36 39.78 

10.01 90.36 39.6 9.969 90.36 39.69 9.969 90.36 39.78 

10.01 90.36 39.6 9.969 90.36 39.69 9.969 90.36 39.78 

9.974 90.45 39.6 10.015 90.45 39.69 9.974 90.45 39.78 

10.015 90.45 39.6 10.015 90.45 39.69 9.974 90.45 39.78 

10.015 90.45 39.6 10.015 90.45 39.69 9.974 90.45 39.78 

10.015 90.45 39.6 9.974 90.45 39.69 9.954 90.45 39.78 

10.015 90.45 39.6 9.995 90.45 39.69 10.015 90.45 39.78 

10.015 90.45 39.6 10.035 90.45 39.69 10.015 90.45 39.78 

10.015 90.45 39.6 9.974 90.45 39.69 10.01 90.45 39.78 

10.01 90.45 39.6 10.015 90.45 39.69 10.01 90.45 39.78 

9.969 90.45 39.6 9.995 90.45 39.69 9.969 90.45 39.78 

10.01 90.45 39.6 9.969 90.45 39.69 9.989 90.45 39.78 

10.015 90.54 39.6 10.015 90.54 39.69 10.015 90.54 39.78 

10.015 90.54 39.6 10.015 90.54 39.69 9.995 90.54 39.78 

9.995 90.54 39.6 10.015 90.54 39.69 9.995 90.54 39.78 

9.974 90.54 39.6 9.974 90.54 39.69 9.995 90.54 39.78 

10.015 90.54 39.6 10.035 90.54 39.69 10.015 90.54 39.78 

10.035 90.54 39.6 10.035 90.54 39.69 10.015 90.54 39.78 

10.015 90.54 39.6 9.974 90.54 39.69 10.015 90.54 39.78 

9.995 90.54 39.6 10.055 90.54 39.69 10.01 90.54 39.78 

9.969 90.54 39.6 9.974 90.54 39.69 9.969 90.54 39.78 

9.969 90.54 39.6 10.015 90.54 39.69 10.03 90.54 39.78 

10.015 90.63 39.6 10.015 90.63 39.69 10.015 90.63 39.78 

9.974 90.63 39.6 9.995 90.63 39.69 10.015 90.63 39.78 

10.015 90.63 39.6 10.015 90.63 39.69 10.015 90.63 39.78 

9.974 90.63 39.6 9.995 90.63 39.69 9.995 90.63 39.78 

9.974 90.63 39.6 10.015 90.63 39.69 9.969 90.63 39.78 

9.969 90.63 39.6 9.995 90.63 39.69 10.03 90.63 39.78 

9.969 90.63 39.6 10.015 90.63 39.69 10.01 90.63 39.78 

9.989 90.63 39.6 9.974 90.63 39.69 10.03 90.63 39.78 

10.01 90.63 39.6 9.995 90.63 39.69 10.03 90.63 39.78 
 112

Table B.6b. Data Set 7: Covariance, 0.090o Incremental Angle.

Attic, Bldg. 226 File: dataset7_covariance_10m_090.xls

Test date: Sept. 3, 2002 

Strip 1 Strip 2 Strip 3 

Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) 

10.03 90.63 39.6 9.995 90.63 39.69 10.01 90.63 39.78 

10.015 90.72 39.6 9.995 90.72 39.69 9.954 90.72 39.78 

9.995 90.72 39.6 9.974 90.72 39.69 10.015 90.72 39.78 

10.035 90.72 39.6 9.974 90.72 39.69 10.015 90.72 39.78 

10.015 90.72 39.6 9.974 90.72 39.69 10.015 90.72 39.78 

10.015 90.72 39.6 10.015 90.72 39.69 9.995 90.72 39.78 

10.015 90.72 39.6 10.035 90.72 39.69 9.974 90.72 39.78 

9.995 90.72 39.6 9.974 90.72 39.69 9.974 90.72 39.78 

9.995 90.72 39.6 10.015 90.72 39.69 9.974 90.72 39.78 

9.974 90.72 39.6 10.035 90.72 39.69 10.035 90.72 39.78 

10.05 90.72 39.6 10.015 90.72 39.69 9.974 90.72 39.78 

9.954 90.81 39.6 10.015 90.81 39.69 9.995 90.81 39.78 

10.015 90.81 39.6 10.015 90.81 39.69 10.015 90.81 39.78 

9.969 90.81 39.6 10.035 90.81 39.69 10.055 90.81 39.78 

10.01 90.81 39.6 9.995 90.81 39.69 9.989 90.81 39.78 

10.01 90.81 39.6 9.995 90.81 39.69 10.01 90.81 39.78 

10.01 90.81 39.6 9.995 90.81 39.69 10.01 90.81 39.78 

10.01 90.81 39.6 10.015 90.81 39.69 9.989 90.81 39.78 

10.01 90.81 39.6 9.974 90.81 39.69 9.969 90.81 39.78 

10.03 90.81 39.6 9.954 90.81 39.69 9.969 90.81 39.78 

9.969 90.81 39.6 9.989 90.81 39.69 9.969 90.81 39.78 

10.015 90.9 39.6 10.015 90.9 39.69 9.995 90.9 39.78 

10.035 90.9 39.6 9.995 90.9 39.69 10.015 90.9 39.78 

10.015 90.9 39.6 10.015 90.9 39.69 9.974 90.9 39.78 

9.995 90.9 39.6 10.035 90.9 39.69 10.055 90.9 39.78 

9.989 90.9 39.6 9.974 90.9 39.69 10.015 90.9 39.78 

9.989 90.9 39.6 9.974 90.9 39.69 10.01 90.9 39.78 

9.989 90.9 39.6 9.974 90.9 39.69 9.989 90.9 39.78 

10.03 90.9 39.6 10.015 90.9 39.69 10.01 90.9 39.78 

10.01 90.9 39.6 10.035 90.9 39.69 10.03 90.9 39.78 

10.01 90.9 39.6 10.015 90.9 39.69 9.989 90.9 39.78 

10.015 90.99 39.6 10.035 90.99 39.69 9.995 90.99 39.78 

9.995 90.99 39.6 10.015 90.99 39.69 9.995 90.99 39.78 

10.01 90.99 39.6 9.974 90.99 39.69 9.974 90.99 39.78 

10.01 90.99 39.6 9.969 90.99 39.69 9.989 90.99 39.78 

10.01 90.99 39.6 10.015 90.99 39.69 10.03 90.99 39.78 

9.989 90.99 39.6 10.015 90.99 39.69 10.01 90.99 39.78 

9.969 90.99 39.6 9.969 90.99 39.69 10.01 90.99 39.78 

9.989 90.99 39.6 10.01 90.99 39.69 9.989 90.99 39.78 

9.969 90.99 39.6 10.01 90.99 39.69 10.01 90.99 39.78 

9.989 90.99 39.6 10.01 90.99 39.69 10.01 90.99 39.78 

10.015 91.08 39.6 10.015 91.08 39.69 10.015 91.08 39.78 

10.015 91.08 39.6 9.995 91.08 39.69 9.974 91.08 39.78 

10.01 91.08 39.6 9.989 91.08 39.69 10.055 91.08 39.78 

9.969 91.08 39.6 9.989 91.08 39.69 10.01 91.08 39.78 

9.989 91.08 39.6 10.01 91.08 39.69 10.03 91.08 39.78 

9.969 91.08 39.6 10.01 91.08 39.69 10.01 91.08 39.78 

9.989 91.08 39.6 10.01 91.08 39.69 9.989 91.08 39.78 

10.01 91.08 39.6 10.01 91.08 39.69 9.989 91.08 39.78 

10.01 91.08 39.6 10.01 91.08 39.69 10.03 91.08 39.78 
 113

Table B.6b. Data Set 7: Covariance, 0.090o Incremental Angle.

Attic, Bldg. 226 File: dataset7_covariance_10m_090.xls

Test date: Sept. 3, 2002 

Strip 1 Strip 2 Strip 3 

Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) 

9.969 91.08 39.6 10.01 91.08 39.69 10.03 91.08 39.78 

Table B.6c. Data Set 7: Covariance, 0.180o Incremental Angle.

Attic, Bldg. 226 File: dataset7_covariance_10m_180.xls

Test date: Sept. 3, 2002 

Strip 1 Strip 2 Strip 3 

Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) 

10.01 87.84 39.6 10.01 87.84 39.789 10.03 87.84 39.951 

10.01 87.84 39.6 10.01 87.84 39.789 10.03 87.84 39.951 

10.03 87.84 39.6 10.03 87.84 39.789 10.01 87.84 39.951 

10.03 87.84 39.6 9.969 87.84 39.789 10.01 87.84 39.951 

10.03 87.84 39.6 9.969 87.84 39.789 10.03 87.84 39.951 

9.989 87.84 39.6 10.01 87.84 39.789 10.03 87.84 39.951 

10.025 87.84 39.6 10.01 87.84 39.789 10.01 87.84 39.951 

10.005 87.84 39.6 10.01 87.84 39.789 9.989 87.84 39.951 

10.045 87.84 39.6 10.03 87.84 39.789 9.969 87.84 39.951 

10.025 87.84 39.6 9.989 87.84 39.789 9.969 87.84 39.951 

9.969 88.02 39.6 10.01 88.02 39.78 10.03 88.02 39.96 

10.03 88.02 39.6 10.01 88.02 39.78 10.03 88.02 39.96 

10.01 88.02 39.6 10.03 88.02 39.78 10.03 88.02 39.96 

9.989 88.02 39.6 9.989 88.02 39.78 10.03 88.02 39.96 

10.03 88.02 39.6 9.989 88.02 39.78 10.05 88.02 39.96 

10.03 88.02 39.6 9.989 88.02 39.789 10.03 88.02 39.96 

10.025 88.02 39.6 10.03 88.02 39.789 9.989 88.02 39.96 

9.989 88.02 39.6 10.03 88.02 39.789 10.05 88.02 39.96 

10.005 88.02 39.6 9.989 88.02 39.789 10.005 88.02 39.96 

10.025 88.02 39.6 10.03 88.02 39.789 10.005 88.02 39.96 

10.05 88.2 39.6 10.01 88.2 39.78 10.01 88.2 39.951 

10.03 88.2 39.6 10.01 88.2 39.78 10.03 88.2 39.951 

9.989 88.2 39.6 10.01 88.2 39.78 10.03 88.2 39.96 

10.05 88.2 39.6 10.01 88.2 39.78 10.03 88.2 39.951 

10.05 88.2 39.6 10.03 88.2 39.78 9.969 88.2 39.951 

10.03 88.2 39.6 10.03 88.2 39.789 10.01 88.2 39.951 

10.01 88.2 39.6 9.969 88.2 39.789 10.01 88.2 39.951 

10.01 88.2 39.6 10.045 88.2 39.789 10.05 88.2 39.951 

10.01 88.2 39.6 10.025 88.2 39.789 9.984 88.2 39.951 

10.005 88.2 39.6 9.984 88.2 39.789 10.045 88.2 39.96 

10.05 88.38 39.6 9.989 88.38 39.78 10.03 88.38 39.96 

10.01 88.38 39.6 10.05 88.38 39.78 10.01 88.38 39.96 

10.03 88.38 39.6 10.03 88.38 39.78 10.05 88.38 39.96 

10.01 88.38 39.6 10.03 88.38 39.78 10.01 88.38 39.96 

10.01 88.38 39.6 10.03 88.38 39.78 10.03 88.38 39.96 

9.969 88.38 39.6 10.03 88.38 39.78 9.984 88.38 39.96 

10.025 88.38 39.6 10.01 88.38 39.78 10.025 88.38 39.96 

10.005 88.38 39.6 10.03 88.38 39.78 9.984 88.38 39.96 

10.005 88.38 39.6 10.025 88.38 39.78 9.964 88.38 39.96 

10.005 88.38 39.6 10.005 88.38 39.78 10.005 88.38 39.96 

10.01 88.56 39.6 9.969 88.56 39.78 10.05 88.56 39.96 

9.989 88.56 39.6 9.989 88.56 39.78 10.01 88.56 39.96 

10.01 88.56 39.6 9.969 88.56 39.78 10.01 88.56 39.96 

10.03 88.56 39.6 10.01 88.56 39.78 10.01 88.56 39.96 
 114

Table B.6c. Data Set 7: Covariance, 0.180o Incremental Angle.

Attic, Bldg. 226 File: dataset7_covariance_10m_180.xls

Test date: Sept. 3, 2002 

Strip 1 Strip 2 Strip 3 

Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) 

9.989 88.56 39.6 10.03 88.56 39.78 10.01 88.56 39.96 

10.01 88.56 39.6 10.03 88.56 39.78 10.01 88.56 39.96 

10.03 88.56 39.6 10.01 88.56 39.78 9.989 88.56 39.96 

10.01 88.56 39.6 10.03 88.56 39.78 10.01 88.56 39.96 

9.989 88.56 39.6 10.03 88.56 39.78 10.05 88.56 39.96 

9.964 88.56 39.6 10.01 88.56 39.78 10.025 88.56 39.96 

10.01 88.74 39.6 9.969 88.74 39.78 9.969 88.74 39.951 

9.989 88.74 39.6 9.969 88.74 39.78 10.03 88.74 39.951 

10.03 88.74 39.6 10.01 88.74 39.78 9.989 88.74 39.96 

10.03 88.74 39.6 9.989 88.74 39.78 9.969 88.74 39.951 

10.03 88.74 39.6 9.989 88.74 39.789 10.03 88.74 39.951 

9.989 88.74 39.6 9.989 88.74 39.789 10.03 88.74 39.951 

10.01 88.74 39.6 10.01 88.74 39.789 10.01 88.74 39.951 

9.989 88.74 39.6 10.05 88.74 39.789 10.03 88.74 39.951 

9.969 88.74 39.6 10.01 88.74 39.789 10.03 88.74 39.96 

10.03 88.74 39.6 9.989 88.74 39.789 10.01 88.74 39.96 

10.03 88.92 39.6 10.03 88.92 39.789 10.01 88.92 39.951 

10.03 88.92 39.6 9.969 88.92 39.789 9.989 88.92 39.951 

10.01 88.92 39.6 10.01 88.92 39.789 10.01 88.92 39.951 

10.03 88.92 39.6 9.969 88.92 39.789 10.05 88.92 39.951 

10.01 88.92 39.6 10.01 88.92 39.789 10.05 88.92 39.951 

10.05 88.92 39.6 9.989 88.92 39.789 9.969 88.92 39.951 

9.989 88.92 39.6 10.01 88.92 39.789 9.989 88.92 39.951 

10.01 88.92 39.6 10.01 88.92 39.789 10.03 88.92 39.951 

10.01 88.92 39.6 10.05 88.92 39.789 10.05 88.92 39.951 

9.989 88.92 39.6 9.969 88.92 39.789 10.03 88.92 39.951 

9.989 89.1 39.6 10.01 89.1 39.789 9.969 89.1 39.96 

10.01 89.1 39.6 10.03 89.1 39.789 9.969 89.1 39.96 

10.01 89.1 39.6 9.989 89.1 39.789 10.01 89.1 39.96 

10.03 89.1 39.6 10.01 89.1 39.789 10.01 89.1 39.96 

10.01 89.1 39.6 10.03 89.1 39.789 10.01 89.1 39.96 

9.969 89.1 39.6 9.969 89.1 39.789 10.01 89.1 39.96 

10.03 89.1 39.6 10.01 89.1 39.789 10.01 89.1 39.96 

10.025 89.1 39.6 10.05 89.1 39.789 9.989 89.1 39.96 

10.01 89.1 39.6 9.969 89.1 39.789 9.969 89.1 39.96 

10.03 89.1 39.6 10.03 89.1 39.789 9.969 89.1 39.96 

10.01 89.28 39.6 9.989 89.28 39.789 10.01 89.28 39.96 

9.969 89.28 39.6 10.01 89.28 39.789 9.989 89.28 39.96 

10.03 89.28 39.6 10.01 89.28 39.789 10.03 89.28 39.96 

10.01 89.28 39.6 9.989 89.28 39.789 10.05 89.28 39.96 

10.05 89.28 39.6 10.03 89.28 39.789 10.01 89.28 39.96 

9.969 89.28 39.6 10.03 89.28 39.789 10.03 89.28 39.96 

10.01 89.28 39.6 10.01 89.28 39.789 10.01 89.28 39.96 

10.03 89.28 39.6 10.01 89.28 39.789 9.989 89.28 39.96 

10.05 89.28 39.6 10.03 89.28 39.789 10.01 89.28 39.96 

9.964 89.28 39.6 10.01 89.28 39.789 9.984 89.28 39.96 

10.01 89.46 39.6 9.969 89.46 39.789 9.969 89.46 39.96 

10.01 89.46 39.6 10.01 89.46 39.789 10.03 89.46 39.96 

10.01 89.46 39.6 10.01 89.46 39.789 10.01 89.46 39.96 

10.01 89.46 39.6 10.03 89.46 39.789 10.01 89.46 39.96 

10.01 89.46 39.6 10.01 89.46 39.789 9.969 89.46 39.96 

9.969 89.46 39.6 10.01 89.46 39.789 9.989 89.46 39.96 

10.01 89.46 39.6 10.03 89.46 39.789 10.005 89.46 39.96 

10.025 89.46 39.6 10.01 89.46 39.789 10.025 89.46 39.96 
 115

Table B.6c. Data Set 7: Covariance, 0.180o Incremental Angle.

Attic, Bldg. 226 File: dataset7_covariance_10m_180.xls

Test date: Sept. 3, 2002 

Strip 1 Strip 2 Strip 3 

Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) 

10.03 89.46 39.6 10.01 89.46 39.789 10.025 89.46 39.96 

10.025 89.46 39.6 10.045 89.46 39.789 10.025 89.46 39.96 

10.01 89.64 39.6 9.969 89.64 39.789 9.989 89.64 39.96 

10.03 89.64 39.6 10.01 89.64 39.789 9.969 89.64 39.96 

10.03 89.64 39.6 9.989 89.64 39.789 10.01 89.64 39.96 

10.03 89.64 39.6 10.01 89.64 39.789 10.01 89.64 39.96 

10.03 89.64 39.6 10.01 89.64 39.789 10.01 89.64 39.96 

10.03 89.64 39.6 10.03 89.64 39.789 10.01 89.64 39.96 

10.01 89.64 39.6 9.969 89.64 39.789 9.989 89.64 39.96 

10.01 89.64 39.6 10.01 89.64 39.789 10.005 89.64 39.96 

10.01 89.64 39.6 10.01 89.64 39.789 10.005 89.64 39.96 

10.005 89.64 39.6 10.01 89.64 39.789 10.005 89.64 39.96 

9.969 89.82 39.6 9.969 89.82 39.789 10.01 89.82 39.96 

10.03 89.82 39.6 10.01 89.82 39.789 9.969 89.82 39.96 

10.01 89.82 39.6 10.01 89.82 39.789 10.01 89.82 39.96 

10.01 89.82 39.6 9.969 89.82 39.789 10.01 89.82 39.96 

10.01 89.82 39.6 10.01 89.82 39.789 9.989 89.82 39.96 

10.05 89.82 39.6 9.989 89.82 39.789 10.03 89.82 39.96 

9.989 89.82 39.6 10.01 89.82 39.789 9.989 89.82 39.96 

10.01 89.82 39.6 10.01 89.82 39.789 10.01 89.82 39.96 

10.05 89.82 39.6 10.01 89.82 39.789 9.969 89.82 39.96 

10.03 89.82 39.6 10.03 89.82 39.789 10.05 89.82 39.96 

10.03 90 39.6 10.03 90 39.78 10.05 90 39.96 

10.01 90 39.6 10.01 90 39.789 10.01 90 39.96 

10.01 90 39.6 10.03 90 39.78 9.989 90 39.96 

10.01 90 39.6 9.969 90 39.78 10.03 90 39.96 

10.01 90 39.6 10.01 90 39.789 10.01 90 39.96 

9.969 90 39.6 10.01 90 39.789 10.01 90 39.96 

10.01 90 39.6 10.01 90 39.789 10.01 90 39.96 

10.01 90 39.6 9.969 90 39.789 9.969 90 39.96 

9.989 90 39.6 9.989 90 39.789 9.969 90 39.96 

10.045 90 39.6 9.969 90 39.78 10.045 90 39.96 

10.03 90.18 39.6 9.969 90.18 39.78 9.989 90.18 39.96 

10.01 90.18 39.6 10.01 90.18 39.78 10.01 90.18 39.96 

9.989 90.18 39.6 9.969 90.18 39.78 9.969 90.18 39.96 

9.969 90.18 39.6 10.01 90.18 39.78 10.01 90.18 39.96 

9.969 90.18 39.6 9.969 90.18 39.78 9.989 90.18 39.96 

10.03 90.18 39.6 10.01 90.18 39.78 10.01 90.18 39.96 

9.969 90.18 39.6 10.01 90.18 39.78 10.01 90.18 39.96 

10.03 90.18 39.6 10.01 90.18 39.78 10.01 90.18 39.96 

10.01 90.18 39.6 9.969 90.18 39.78 9.969 90.18 39.96 

10.01 90.18 39.6 10.005 90.18 39.78 10.025 90.18 39.96 

9.989 90.36 39.6 9.969 90.36 39.78 10.01 90.36 39.96 

10.01 90.36 39.6 10.01 90.36 39.78 9.989 90.36 39.96 

9.969 90.36 39.6 9.989 90.36 39.78 10.01 90.36 39.96 

9.989 90.36 39.6 10.01 90.36 39.78 9.989 90.36 39.96 

10.03 90.36 39.6 10.03 90.36 39.78 10.01 90.36 39.96 

9.989 90.36 39.6 9.989 90.36 39.78 9.969 90.36 39.96 

10.01 90.36 39.6 9.989 90.36 39.789 9.969 90.36 39.96 

10.03 90.36 39.6 9.964 90.36 39.78 10.01 90.36 39.96 

10.01 90.36 39.6 9.964 90.36 39.789 10.025 90.36 39.96 

10.01 90.36 39.6 10.025 90.36 39.78 10.025 90.36 39.96 

10.05 90.54 39.6 10.01 90.54 39.78 10.01 90.54 39.96 

10.03 90.54 39.6 10.01 90.54 39.78 10.01 90.54 39.96 
 116

Table B.6c. Data Set 7: Covariance, 0.180o Incremental Angle.

Attic, Bldg. 226 File: dataset7_covariance_10m_180.xls

Test date: Sept. 3, 2002 

Strip 1 Strip 2 Strip 3 

Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) 

10.01 90.54 39.6 10.01 90.54 39.78 9.989 90.54 39.96 

10.01 90.54 39.6 10.01 90.54 39.78 10.01 90.54 39.96 

9.969 90.54 39.6 10.03 90.54 39.78 10.01 90.54 39.96 

10.03 90.54 39.6 10.01 90.54 39.789 9.989 90.54 39.96 

9.969 90.54 39.6 9.969 90.54 39.789 9.989 90.54 39.96 

9.969 90.54 39.6 10.025 90.54 39.789 9.989 90.54 39.96 

9.989 90.54 39.6 10.005 90.54 39.789 10.01 90.54 39.96 

10.03 90.54 39.6 9.984 90.54 39.789 10.03 90.54 39.96 

9.969 90.72 39.6 10.03 90.72 39.78 9.969 90.72 39.96 

10.03 90.72 39.6 9.969 90.72 39.78 10.01 90.72 39.96 

10.03 90.72 39.6 10.01 90.72 39.78 9.969 90.72 39.96 

10.01 90.72 39.6 9.969 90.72 39.78 9.969 90.72 39.96 

9.989 90.72 39.6 10.01 90.72 39.78 10.01 90.72 39.96 

10.01 90.72 39.6 10.01 90.72 39.78 10.01 90.72 39.96 

9.989 90.72 39.6 9.969 90.72 39.78 10.01 90.72 39.96 

10.01 90.72 39.6 9.984 90.72 39.78 10.01 90.72 39.96 

10.05 90.72 39.6 10.03 90.72 39.78 10.01 90.72 39.96 

10.03 90.72 39.6 9.989 90.72 39.78 10.01 90.72 39.96 

9.969 90.9 39.6 10.01 90.9 39.78 9.989 90.9 39.96 

9.969 90.9 39.6 10.01 90.9 39.78 9.969 90.9 39.96 

9.989 90.9 39.6 10.03 90.9 39.78 10.01 90.9 39.96 

10.03 90.9 39.6 9.989 90.9 39.78 10.03 90.9 39.96 

10.01 90.9 39.6 10.01 90.9 39.78 9.969 90.9 39.96 

9.969 90.9 39.6 9.989 90.9 39.78 9.989 90.9 39.96 

10.03 90.9 39.6 10.03 90.9 39.78 10.01 90.9 39.96 

10.03 90.9 39.6 9.969 90.9 39.78 9.989 90.9 39.96 

10.03 90.9 39.6 9.989 90.9 39.78 10.03 90.9 39.96 

10.05 90.9 39.6 9.969 90.9 39.78 10.01 90.9 39.96 

10.03 91.08 39.6 10.05 91.08 39.78 10.01 91.08 39.96 

10.03 91.08 39.6 9.969 91.08 39.78 10.03 91.08 39.96 

9.989 91.08 39.6 9.989 91.08 39.78 10.01 91.08 39.96 

10.01 91.08 39.6 10.05 91.08 39.78 10.01 91.08 39.96 

10.05 91.08 39.6 9.989 91.08 39.78 9.989 91.08 39.96 

10.01 91.08 39.6 9.989 91.08 39.78 10.03 91.08 39.96 

10.05 91.08 39.6 10.01 91.08 39.78 10.05 91.08 39.96 

10.01 91.08 39.6 9.989 91.08 39.78 9.989 91.08 39.96 

9.989 91.08 39.6 10.01 91.08 39.78 10.03 91.08 39.96 

10.01 91.08 39.6 10.03 91.08 39.78 10.01 91.08 39.96 

10.01 91.26 39.6 10.01 91.26 39.78 9.969 91.26 39.96 

10.03 91.26 39.6 10.01 91.26 39.78 10.03 91.26 39.96 

10.01 91.26 39.6 9.969 91.26 39.78 10.03 91.26 39.96 

10.03 91.26 39.6 10.01 91.26 39.78 10.03 91.26 39.96 

9.969 91.26 39.6 9.989 91.26 39.78 9.989 91.26 39.96 

10.01 91.26 39.6 10.01 91.26 39.789 10.01 91.26 39.96 

10.03 91.26 39.6 10.03 91.26 39.789 9.989 91.26 39.96 

10.01 91.26 39.6 9.989 91.26 39.789 9.989 91.26 39.96 

10.01 91.26 39.6 10.01 91.26 39.789 9.969 91.26 39.96 

10.01 91.26 39.6 10.01 91.26 39.789 10.01 91.26 39.96 

10.01 91.44 39.6 10.03 91.44 39.789 10.01 91.44 39.96 

10.01 91.44 39.6 9.989 91.44 39.789 9.969 91.44 39.96 

10.03 91.44 39.6 10.03 91.44 39.789 10.01 91.44 39.96 

10.01 91.44 39.6 10.01 91.44 39.789 10.01 91.44 39.96 

10.05 91.44 39.6 9.969 91.44 39.789 10.01 91.44 39.96 

10.01 91.44 39.6 9.969 91.44 39.789 10.03 91.44 39.96 
 117

Table B.6c. Data Set 7: Covariance, 0.180o Incremental Angle.

Attic, Bldg. 226 File: dataset7_covariance_10m_180.xls

Test date: Sept. 3, 2002 

Strip 1 Strip 2 Strip 3 

Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) Range (m) φ ( o ) θ ( o ) 

9.969 91.44 39.6 10.03 91.44 39.789 10.01 91.44 39.96 

9.989 91.44 39.6 10.01 91.44 39.789 10.03 91.44 39.96 

9.969 91.44 39.6 9.969 91.44 39.789 10.05 91.44 39.96 

10.03 91.44 39.6 10.05 91.44 39.789 9.969 91.44 39.96 

10.01 91.62 39.6 10.01 91.62 39.78 10.05 91.62 39.96 

9.969 91.62 39.6 9.989 91.62 39.78 9.969 91.62 39.96 

10.01 91.62 39.6 10.01 91.62 39.78 9.969 91.62 39.96 

10.03 91.62 39.6 9.989 91.62 39.78 10.01 91.62 39.96 

10.01 91.62 39.6 10.05 91.62 39.78 10.01 91.62 39.96 

10.01 91.62 39.6 9.969 91.62 39.78 9.989 91.62 39.96 

9.989 91.62 39.6 10.03 91.62 39.78 10.03 91.62 39.96 

10.03 91.62 39.6 10.01 91.62 39.78 10.01 91.62 39.96 

10.045 91.62 39.6 10.03 91.62 39.78 10.03 91.62 39.96 

10.005 91.62 39.6 10.005 91.62 39.78 9.984 91.62 39.96 

10.03 91.8 39.6 10.01 91.8 39.78 10.01 91.8 39.96 

10.01 91.8 39.6 10.05 91.8 39.78 10.01 91.8 39.96 

10.03 91.8 39.6 9.969 91.8 39.78 10.05 91.8 39.96 

10.03 91.8 39.6 10.05 91.8 39.78 9.989 91.8 39.96 

9.989 91.8 39.6 9.969 91.8 39.78 10.01 91.8 39.96 

10.03 91.8 39.6 10.01 91.8 39.78 10.03 91.8 39.96 

10.01 91.8 39.6 10.025 91.8 39.78 10.03 91.8 39.96 

10.01 91.8 39.6 10.045 91.8 39.78 10.01 91.8 39.96 

9.989 91.8 39.6 10.005 91.8 39.78 10.01 91.8 39.96 

10.05 91.8 39.6 10.045 91.8 39.78 9.989 91.8 39.96 

10.01 91.98 39.6 10.03 91.98 39.789 10.01 91.98 39.96 

10.01 91.98 39.6 10.05 91.98 39.789 9.969 91.98 39.96 

10.03 91.98 39.6 9.989 91.98 39.789 10.01 91.98 39.96 

10.01 91.98 39.6 10.03 91.98 39.789 10.01 91.98 39.96 

10.01 91.98 39.6 9.969 91.98 39.789 10.01 91.98 39.96 

10.01 91.98 39.6 9.984 91.98 39.789 10.01 91.98 39.96 

10.01 91.98 39.6 10.005 91.98 39.789 10.005 91.98 39.96 

10.03 91.98 39.6 10.045 91.98 39.789 9.984 91.98 39.96 

9.964 91.98 39.6 9.984 91.98 39.789 10.025 91.98 39.96 

10.005 91.98 39.6 10.045 91.98 39.789 10.025 91.98 39.96 

10.03 92.16 39.6 10.03 92.16 39.78 9.969 92.16 39.96 

10.01 92.16 39.6 10.01 92.16 39.78 10.01 92.16 39.96 

10.01 92.16 39.6 10.01 92.16 39.78 10.05 92.16 39.96 

10.03 92.16 39.6 10.03 92.16 39.78 9.989 92.16 39.96 

9.989 92.16 39.6 10.05 92.16 39.78 10.03 92.16 39.96 

10.01 92.16 39.6 10.005 92.16 39.78 10.03 92.16 39.96 

9.989 92.16 39.6 10.005 92.16 39.78 9.989 92.16 39.96 

10.01 92.16 39.6 10.005 92.16 39.78 9.989 92.16 39.96 

10.05 92.16 39.6 9.964 92.16 39.78 10.025 92.16 39.96 

9.964 92.16 39.6 10.025 92.16 39.78 10.01 92.16 39.96 
 118

Table B.7. Data Set 8- Autocorrelation, 100 points 

File: 100pts.txt 

Col.1 Col. 2 Col. 3 Col. 4 Col. 5 

Distances Continued from 

Col. 1 

Continued from 

Col. 2 

Continued from 

Col. 3 

Continued from 

Col. 4 

(m) (m) (m) (m) (m) 

19.957 19.992 19.972 19.992 20.012 

19.997 19.992 19.972 19.992 19.988 

19.977 19.992 19.972 19.992 19.988 

20.017 20.012 20.012 19.992 19.988 

20.017 20.012 19.992 19.972 19.988 

19.997 19.992 20.012 19.992 20.012 

19.997 19.992 19.952 20.008 19.988 

19.977 19.972 20.012 19.972 19.968 

20.017 19.972 19.992 19.988 20.008 

19.997 19.992 19.972 19.968 19.988 

19.997 20.012 19.952 20.012 19.948 

19.997 19.992 20.012 20.012 19.998 

19.977 19.972 19.972 19.972 19.988 

19.997 19.992 19.992 19.992 20.008 

20.017 20.012 19.992 20.008 19.988 

19.997 19.992 20.012 19.988 19.968 

19.952 20.012 20.012 20.008 20.008 

19.972 19.972 19.972 19.992 19.948 

19.992 19.972 19.992 19.968 19.988 

19.992 20.012 20.008 20.008 19.988