Laser tracking measurement apparatus multi-target measuring method and apparatus based on inertia guiding

A technology of laser tracking measurement and inertial measurement device, which is applied to measurement devices, radio wave measurement systems, and navigation through velocity/acceleration measurement, etc., can solve problems such as difficulty in calibrating cameras with a large field of view, failure of visual methods, and influence on guidance accuracy. , to achieve range advantage, efficiency advantage, and the effect of increasing the measurement frequency

Active Publication Date: 2017-05-10
TIANJIN UNIV
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Problems solved by technology

[0003] However, the visual guidance method has certain limitations in practical application:
[0005] Second, at the measurement site, the environment is often complex, and the on-site personnel and facilities, as well as the attitude changes of the measured target, may form occlusions during the dynamic tracking process, resulting in the failure of the visual method;
[0006] Third, the visual sensor should have a larger field of view to ensure that the reference point does not leave the field of view during the target movement process. It is relatively difficult to calibrate a camera with a large field of view, and the guidance accuracy will be affected by the calibration accuracy.
[0007] In short, there are still many deficiencies in the accuracy, efficiency, flexibility and adaptability of the methods and devices based on vision guidance.

Method used

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  • Laser tracking measurement apparatus multi-target measuring method and apparatus based on inertia guiding
  • Laser tracking measurement apparatus multi-target measuring method and apparatus based on inertia guiding
  • Laser tracking measurement apparatus multi-target measuring method and apparatus based on inertia guiding

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Embodiment 1

[0036] 11. Make the inertial measurement device and the measured object always maintain a rigid connection relationship, establish a workpiece coordinate system with multiple reference points on the surface, and calibrate the conversion relationship between the workpiece coordinate system and the inertial measurement device coordinate system;

[0037] 12: During the moving process of the target, the workpiece coordinate system changes accordingly. Define the workpiece coordinate system at the initial moment as the world coordinate system; define the Cartesian coordinate system of the laser tracking measurement equipment itself as the laser tracking measurement coordinate system, and calibrate the world coordinate system and the laser Track the conversion relationship of the measurement coordinate system;

[0038] 13: The inertial measurement device independently and continuously measures the target pose, and uses the high-precision measurement results of the laser tracking meas...

Embodiment 2

[0050] The following combines specific figure 1 , figure 2 and image 3 , and the mathematical formula further introduces the scheme in embodiment 1, see the following description for details:

[0051] It should be noted that this embodiment is only an exemplary embodiment of the method and device, but is not limited to the above exemplary embodiment. The method and device are applicable to all laser tracking and measuring equipment for measuring the pose of any moving carrier.

[0052] The laser tracking measurement device used in this embodiment is a laser tracker 101; the inertial measurement device used is an inertial measurement unit 102, including a three-axis gyroscope and a three-axis accelerometer.

[0053] The inertial measurement device is rigidly connected to the measured target 103, and a plurality of reflective target balls 104 are fixed on the upper surface of the target as reference points, and the reference point P 1 ,P 2 ,P 3 Establish workpiece coordi...

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Abstract

The invention discloses a laser tracking measurement apparatus multi-target measuring method and apparatus based on inertia guiding. The invention integrates an inertia measurement apparatus and a laser tracking measurement apparatus to form a combined measurement system, and provides a laser tracking measurement apparatus multi-target automatic measuring method based on inertia guiding. The inertia measurement apparatus autonomously works in a high frequency and is not influenced by on-site environment, and continuously provides guiding information for the laser tracking measurement apparatus in real time; and meanwhile, the laser tracking measurement apparatus outputs the accurate and stable measurement result to correct the accumulative error of the inertia measurement apparatus. The advantages of the two measurement methods and apparatuses are combined, the disadvantages of each other can be made up, and a measuring apparatus with optimal comprehensive performance can be formed.

Description

technical field [0001] The invention relates to the field of precision measurement methods and technologies, in particular to a multi-target measurement method and device for laser tracking measurement equipment based on inertial guidance. Background technique [0002] Digital measurement technology has been widely used in the production and assembly of large components in various fields such as aviation, aerospace, ships, bridges and tunnels, and is a key technology to improve the quality and efficiency of products and engineering production. It is widely used in the assembly of aircraft wings, the docking of launch vehicle cabins, the installation of aerospace engines, the closure of ship sections, and the shield tunneling of bridges and tunnels. Among them, laser tracking measurement equipment, including: laser tracker, total station, etc., has the advantages of high measurement accuracy, large range coverage (from one meter to hundreds of meters), flexible layout, conven...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/66G01C21/18G01S7/497
Inventor 杨凌辉邾继贵孙博任永杰林嘉睿张正吉
Owner TIANJIN UNIV
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