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

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...

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 traditional laser target inclination sensor angle measurement in the dynamic measurement of six degrees of freedom, and improve the overall six degrees of freedom. The dynamic performance of degree measurement system

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