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In-plane dual-platform relative pose measurement system

A relative pose and measurement system technology, applied to radio wave measurement systems, measurement devices, instruments, etc., can solve problems such as non-contact linkage, achieve strong anti-interference ability, high measurement accuracy, and simple structure

Active Publication Date: 2022-03-25
BEIJING INST OF SPECIALIZED MACHINERY
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Problems solved by technology

[0004] The technical problem to be solved by the present invention is: how to propose a method for measuring the relative pose of two platforms in a plane, which is used for non-contact measurement of the relative pose between two platforms in the same plane, and solves the problem of non-contact linkage of two platform systems or Problems when moving relative to

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  • In-plane dual-platform relative pose measurement system
  • In-plane dual-platform relative pose measurement system
  • In-plane dual-platform relative pose measurement system

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Embodiment Construction

[0033] In order to make the purpose, content, and advantages of the present invention clearer, the specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0034] The invention is realized based on the relative pose measurement system of dual platforms in the plane, such as figure 1 As shown, the system consists of four parts, namely: a first laser rangefinder 1, a second laser rangefinder 2, a third laser rangefinder 3, a reflective surface 4 (which can be a surface of a special reflector) , which faces the three laser rangefinders). The first platform A and the second platform B are measurement objects.

[0035] Among them, the first laser range finder 1, the second laser range finder 2, and the third laser range finder 3 are located on the first platform A and are placed at equal intervals, and the third laser range finder 3 is located on the first laser range finder. 1. Between ...

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Abstract

The invention relates to a system and a method for measuring relative poses and attitudes of two platforms in a plane, and relates to the technical field of laser ranging. The structure of the present invention includes a plurality of laser range finders and a special reflective surface. When measuring, three laser range finders work at the same time, and adjust the second platform in sequence according to the measured rotation angle ω, lateral distance, and longitudinal distance. The position and posture of the first platform and the second platform can be fixed in a non-contact situation. The invention realizes the high-precision non-contact measurement of the relative pose between two platforms in the plane; it has the advantages of good environmental adaptability, strong anti-interference ability, good robustness, and high measurement accuracy; the principle and structure are simple, and the transformation cost is low , suitable for relative pose measurement of different types of mobile and non-mobile platforms, and convenient for daily maintenance.

Description

technical field [0001] The invention relates to the technical field of laser ranging, in particular to a method for measuring the relative position and attitude of two platforms in a plane. Background technique [0002] The current relative pose detection is usually implemented based on binocular vision, monocular vision, lidar imaging and other technologies, and some are aimed at cooperative targets and some non-cooperative targets, and are generally used for relative position detection between space vehicles. The cost is relatively high, the principle is more complicated, and there are certain requirements for the use environment. SUMMARY OF THE INVENTION [0003] (1) Technical problems to be solved [0004] The technical problem to be solved by the present invention is: how to propose a method for measuring the relative pose of two platforms in a plane, which can be used for non-contact measurement of the relative pose between two platforms in the same plane, so as to ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S17/42
CPCG01S17/42
Inventor 段三军李远桥李波梁嘉震
Owner BEIJING INST OF SPECIALIZED MACHINERY
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