Spatial position and posture solving method based on integral target optimization

Abstract

The invention discloses a spatial position and posture solving method based on integral target optimization, and belongs to the field of production, maintenance and service of vehicles. According to the spatial position and posture solving method based on integral target optimization, imaging of targets in different states can be taken as imaging of a same target on cameras, the cameras in different states can be used for shooting the targets at different spatial positions, known spatial points are projected into the cameras for imaging according to the related principle of three-dimensional reconstruction, constraint is done based on minimum back projection, least square solving is performed to acquire the positions of the cameras, the cameras (corresponding to large target extraction errors caused by factors such as shaking during movement) with large residual errors are eliminated, and accurate postures and positions of the targets are acquired through back calculation.

Description

technical field [0001] The invention relates to the fields of production, maintenance and service of automobiles, in particular to a method for solving the spatial position and attitude of the overall optimization of a target. Background technique [0002] The four-wheel aligner is a precision instrument used to detect the vehicle alignment device. The four-wheel alignment instrument continuously captures the target, and then calculates the spatial position and attitude of the target, and then calculates the angle, etc. Therefore, in the four-wheel aligner, the positioning and posture of the target play a decisive role in the final result. The method for improving the positioning and attitude determination of the target is conducive to further improving the calculation accuracy of the four-wheel alignment. [0003] However, in the existing technical research and practice process, it is found that in the process of calculating the spatial position and spatial attitude of the...

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Problems solved by technology

[0003] However, in the existing technical research and practice process, it is found that in the process of calculating the spatial position and spatial attitude of the existing four-wheel alignment target, the trajectory formed in space for the same target motion process is only a simple method. The space fitting method, the fitted curve is seriously inconsistent with the actual situation, and factors such as shaking during the cart process will inevitably lead to a large deviation in the fitting

[0004] There are mainly two types of target settlement of the four-wheel aligner: 1) direct solution without any optimization: the general four-wheel aligner obtains the image at the moment when the cart stops as a reference, and obtains the spatial position and attitude of the target through calculation, and then Solve the four-wheel alignment parameters. This method loses a lot of intermediate data and only relies on the data at rest, resulting in unstable results.

2) In the method of fitting the spatial position of the target, the accuracy is generally poor. If the wheel shakes violently in space, the fitting method cannot effectively eliminate the gross error, resulting in a deviation in the fitting, which affects the solution of the four-wheel alignment parameters. precision

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