Mobile platform trajectory planning and positioning correction method for large-size measurement scene

Abstract

The present application relates to a mobile platform trajectory planning and positioning correction method for large-size measurement scenarios, comprising laying out feature marker points, obtaining feature marker point coordinates in the digital model coordinate system and the actual workpiece coordinate system; solving and optimizing the rigid transformation matrix of the digital model coordinate system and the actual workpiece coordinate system; mapping the theoretical trajectory points in the workpiece CAD digital model to the actual workpiece surface and optimizing, realizing the operation trajectory planning of the mobile platform; based on the chain matrix relationship between each coordinate system, real-time solving the pose matrix of the mobile platform in the global coordinate system and calculating the positioning error optimization, realizing the global positioning of the mobile platform; obtaining the actual trajectory point set of the mobile platform under the binocular vision system for dynamic correction. The present application meets the high-precision and automated operation requirements in large-size measurement scenarios, has high-precision positioning and closed-loop control characteristics, and is suitable for the automated measurement tasks of large-size components in the fields of aerospace, energy equipment, etc.

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