Six-degree-of-freedom laser targeted integral calibration method

A technology of laser target and calibration method, which is applied in the field of calibration of unknown parameters in the sensor attitude measurement solution model, and can solve problems such as differences in calibration efficiency

Inactive Publication Date: 2018-10-12
TIANJIN UNIV
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Problems solved by technology

In addition, different calibration methods will lead to differences in calibration eff...

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  • Six-degree-of-freedom laser targeted integral calibration method
  • Six-degree-of-freedom laser targeted integral calibration method
  • Six-degree-of-freedom laser targeted integral calibration method

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Embodiment Construction

[0058] The present invention provides an integral calibration method for large-scale 6D laser targets, which fully utilizes the advantages of high precision and programmable control of the precision three-axis turntable, does not include manual participation in the process, and improves the reliability of calibration And the calibration efficiency is greatly improved. The invention utilizes the light vector angle measurement information of the total station, does not need to consider the alignment problem between the center of the turntable and the center of the 6D laser target before the internal reference calibration of the area array camera, eliminates the accidental error caused by man, and improves the calibration efficiency. The present invention does not need to disassemble and assemble the 6D laser target when calibrating the external parameters of the area array camera, and can realize integral and integrated calibration, and also eliminates accidental errors caused by...

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Abstract

The invention provides a laser targeted integral calibration method by aiming at large-size 6D laser target, which relates to the field of large-size space six-degree-of-freedom attitude measurement,and fully uses the advantages of high precision and programmable control of a precious triaxial rotary table. Artificial participation part is not contained during a process, the calibration reliability is increased, and the calibration efficiency is greatly increased. The integral calibration method uses an external frame and a middle frame of the precious triaxial rotary table to drive the 6D laser target to rotate at front of emitting light of a total station to construct a measured control field, the projection position of a light vector under a camera coordinate system is calculated, thereal projection position of the camera is obtained through detection, an attitude relation equation of a clinometer coordinate system and a rotary table coordinate system is established to obtain an attitude relation of the clinometer coordinate system and the camera coordinate system, and the unknown relation parameters in a 6D laser target resolving model can be calibrated. The method can be mainly used for six-degree-of-freedom attitude measurement.

Description

technical field [0001] The invention designs the field of attitude measurement with six degrees of freedom in a large-size space, and relates to the calibration of unknown parameters in a sensor attitude measurement solution model. Background technique [0002] As a new type of large-scale 6D measurement system, the laser target measurement system is widely used in tunnel guidance engineering. The principle of laser target measurement can be seen: [1] Meng Xiangrui, Yang Xueyou, Gao Yang, et al. Six degrees of freedom measurement technology of laser target [J]. Optoelectronic Engineering, 2015, 42(5): 27-33. [2] Yang Wenhui , Lin Jiarui, Gao Yang, et al. Modeling and Error Analysis of Laser Target Pose Measurement System[J]. Nanotechnology and Precision Engineering, 2015(4):293-298. The 6D laser target realizes space attitude measurement, expressed in the form of three-dimensional space coordinates and three attitude angles (azimuth angle, roll angle and pitch angle). The ...

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 林嘉睿邾继贵杨凌辉任永杰高扬
Owner TIANJIN UNIV
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