Device and method for measuring dynamic pose based on inertial unit and laser tracker

A laser tracker, pose measurement technology, applied in measurement devices, optical devices, measurement angles, etc., can solve the problems of low accuracy and stability, and achieve the advantages of improving measurement accuracy, simple system structure, and improving system stability. Effect

Inactive Publication Date: 2018-06-29
TIANJIN UNIV
View PDF2 Cites 21 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the deficiencies of the prior art, the present invention aims to propose a high-speed dynamic pose measurement method to solve the problem of low accuracy and stability of the tradit

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Device and method for measuring dynamic pose based on inertial unit and laser tracker
  • Device and method for measuring dynamic pose based on inertial unit and laser tracker
  • Device and method for measuring dynamic pose based on inertial unit and laser tracker

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0032] The invention provides a high-speed dynamic pose measurement method based on an inertial unit and a laser tracker, which combines the high dynamic performance and good robustness of the inertial sensing unit with the advantages of high measurement precision of the laser target (102) . The invention solves the problem of low accuracy and stability when measuring the angle of the inclination angle sensor in the traditional laser target when dynamically measuring the six degrees of freedom, and improves the dynamic performance of the entire six degrees of freedom measuring system. The invention better compensates for the error caused by the measurement distortion of the internal inclination sensor in the high-speed motion or vibration state of the target.

[0033] The purpose of the present invention is achieved through the following technical solutions:

[0034] A high-speed dynamic pose measurement method based on an inertial unit and a laser tracker, through the cooper...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to the field of spatial precision geometric quantity measurement, and provides a device and a method for measuring the dynamic pose based on an inertial unit and a laser trackerin order to solve the problems of low precision and low stability in the dynamic measurement of six degrees of freedom during inclination angle sensor angle measurement in traditional laser targets and improve the dynamic performances of the whole six-degree-of-freedom measurement system. The device for measuring the dynamic pose based on the inertial unit and the laser tracker is composed of a laser target and the laser tracker, the laser target is internally composed of a visual imaging unit, an inertial measurement unit, an inclination angle sensing unit measurement unit and a data processing unit, the laser tracker emits interfering laser lights, the interfering laser lights lock the notched pyramid prism on the laser target, the interfering laser lights are specularly reflected in theprism, parts of the interfering laser lights return to the laser tracker after being reflected, the laser tracker obtains the reflection center of the pyramid prism through an interference ranging principle and a conversion relationship between spherical coordinates and rectangular coordinates, and the remaining laser lights go through the notch of the pyramid prism. The device and the method are mainly applied to precise geometric quantity measurement occasions.

Description

technical field [0001] The invention relates to the field of space precision geometric quantity measurement, in particular to the problem of real-time measurement of six degrees of freedom of space objects during high-speed motion. Specifically, it involves a high-speed dynamic pose measurement method based on inertial units and laser trackers. Background technique [0002] With the rapid development of science and technology, the demand for pose measurement continues to increase. For example, in the assembly process of aircraft or ships, it is necessary to monitor the position and attitude information of each component in real time to guide the control unit to complete the assembly process. As a commonly used measurement system in the field of pose measurement, the laser target system can measure the three coordinates, azimuth, pitch angle, and roll angle of a static target in a specified coordinate system. Among them, the pitch angle and roll angle are currently only mea...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G01C1/00G01B11/00
CPCG01B11/002G01C1/00
Inventor 林嘉睿邾继贵杨凌辉任永杰高凯
Owner TIANJIN UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products