The scanning mathematic models of a sensor with three freedoms of rotation

There are various sensors based on surveying distance and/or recording spectrum. Many of these sensors, including remote sensing sensors, normally have 1-2 degrees of freedom of rotation in their optical and mechanical parts. This paper introduces scanning mathematic models of a sensor with three degrees of freedom of rotation for the sensor designers. It is advantageous to use the scanning equations of the mathematic models in various forms and directions in overcoming dead corner and offering arbitrary location scanning. The mathematic models have been successfully used in a structure-light industrial surveying system based on a laser theodolite with three degrees of freedom of rotation, which was researched by author