Six-degrees-of-freedom pose measurement method and device

Abstract

The invention belongs to the pose measurement technical field and relates to a six-degrees-of-freedom pose measurement method and device. The six-degrees-of-freedom pose measurement method includes the following steps that: a plurality of light sources are disposed on a first plane and form a polygon, and the sensitive surfaces of the plurality of light sources, which face a two-dimensional PSD (Position Sensitive Device), are adjusted; a modulation circuit controls the plurality of light sources to emit light sequentially in accordance with preset rules; the two-dimensional PSD sequentially receives the light emitted by the plurality of light sources and converts the light into corresponding electrical signals; and a signal acquisition and processing circuit acquires the six-degree-of-freedom pose information of the sensitive surface of the two-dimensional PSD relative to the first plane or acquires the six-degree-of-freedom pose of the first plane relative to the sensitive surface of the two-dimensional PSD according to the preset rules for emitting the light and the received electrical signals. According to the six-degrees-of-freedom pose measurement method and device of the invention, one two-dimensional PSD is adopted to achieve six-degrees-of-freedom pose measurement, and therefore, the number of two-dimensional PSDs can be decreased, and system design can be simplified. The six-degrees-of-freedom pose measurement method and device of the invention can be applied to the six-degrees-of-freedom pose measurement of a space micro-gravity active vibration isolation device.

Description

technical field [0001] The present invention relates to the technical field of pose measurement, in particular to a six-degree-of-freedom pose measurement method and device. Background technique [0002] In engineering applications, it is very important to obtain pose information. Close-range precision pose measurement can be widely used in many fields such as robot control, aviation docking, tracking guidance and other alignment, displacement and movement. Common pose measurement methods include visual measurement, laser measurement, radar measurement, etc. [0003] PSD stands for Position Sensitive Device, which is suitable for small displacement and high precision measurement. The two-dimensional PSD can determine the two-dimensional position information of the light spot in the two-dimensional PSD through the current generated by the incident light spot, but it cannot obtain the six-degree-of-freedom pose, that is, the three-dimensional position and attitude. In the p...

AI Technical Summary

Problems solved by technology

The two-dimensional PSD can determine the two-dimensional position information of the light spot in the two-dimensional PSD through the current generated by the incident light spot, but it cannot obtain the six-degree-of-freedom pose, that is, the three-dimensional position and attitude

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