Calibration method of laser two-dimensional distance measuring sensor

Abstract

The invention discloses a calibration method of a laser two-dimensional distance measuring sensor, which comprises the following steps: under the condition that the motor drives the coded disc to rotate at a constant speed, calibrating an angle value of each tooth of the coded disc; uniformly dotting two adjacent teeth, and calculating in real time to obtain points corresponding to any calibrationangle between the two adjacent teeth; obtaining measuring points formed by a laser two-dimensional distance measuring sensor at a constant speed within a preset angle, obtaining a measuring value ofthe distance between each measuring point and the laser two-dimensional distance measuring sensor, and reducing noise of a series of measuring values through the combination of a Kalman filtering algorithm and a weighted average filtering algorithm; respectively analyzing and quantifying the influence of the measured distance and the motor rotating speed on the error through a static fixed point system error calibration model and a static panoramic system error calibration model, and correcting the system error of the prototype machine caused by different measured distances and motor rotatingspeeds, and the invention can be used for calibrating a laser two-dimensional distance measuring sensor.

Description

technical field [0001] The invention relates to a calibration method for a laser two-dimensional distance measuring sensor. Background technique [0002] The calibration of the laser two-dimensional ranging sensor can be divided into two parts: distance calibration and angle calibration. [0003] In terms of distance calibration, distance calibration can be divided into two parts: system error calibration and random error calibration. [0004] For the system error, there are mainly two calibration methods at present. The first method is to directly obtain the corresponding relationship between the current real value and the output value through experiments at intervals of a small distance, and form a calibration table. This method has high precision, but it is only suitable for small ranges, and the calibration takes a long time, resulting in a large amount of manpower and time resource consumption, and the calibration efficiency is low, and it is not suitable for large-sc...

AI Technical Summary

Problems solved by technology

This method relies on the motor itself, requires the motor itself to have high performance, ignores the accuracy of the code disc, and cannot eliminate the impact of the error of the code disc

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