Laser tracking inertia combined measuring system and its measuring method

A laser tracking measurement and laser tracking technology, which is applied in the field of precision measurement, can solve the problems of reduced positioning accuracy and poor absolute accuracy, and achieve the effects of improving stability, attitude measurement accuracy, and autonomy

Inactive Publication Date: 2005-01-12
TSINGHUA UNIV +1
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Problems solved by technology

Inertial measurement technology has the advantages of independent measurement, good dynamic performance, wide frequency band, and output data can contain system speed

Method used

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  • Laser tracking inertia combined measuring system and its measuring method
  • Laser tracking inertia combined measuring system and its measuring method
  • Laser tracking inertia combined measuring system and its measuring method

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Embodiment Construction

[0032] The present invention will be further described below in conjunction with drawings and embodiments.

[0033] The present invention proposes a laser tracking inertial combined measurement method and system embodiment for the spatial position and attitude of a moving target, combining Figure 1~3 The system composition and measurement method are described in detail as follows:

[0034] figure 1 It is a schematic diagram of the composition of an embodiment of the measurement system of the present invention, and its laser tracking method adopts the angle-distance method.

[0035]The system includes an inertial measurement subsystem, a laser tracking measurement subsystem, and a computer control and data acquisition and processing subsystem respectively connected to the inertial measurement subsystem and the laser tracking measurement subsystem. The inertial instrument group 4 required for full attitude measurement according to the platform working mode or strapdown workin...

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Abstract

The invention discloses combined laser tracking and inertial surveying system for measuring position and gesture of space object composed of inertial surveying subsystem, laser tracking measurement subsystem, and computer control and data collection and process subsystem connected to the above said two systems. The invention is also discloses a dynamic tracking measuring method. Based on requirement of Kalman filtering algorithm, the method builds system equation and observation equation for moving target between fixed connected coordinate system and global coordinate, and edits expanded Kalman filtering algorithm for optimal modifying each error information. So as to calculate out information of position and gesture of target in fixed connected coordinate system related to global coordinate. The invention raises stability and measuring precision, and enriches output information measured.

Description

technical field [0001] The invention belongs to the technical field of precision measurement, and relates to a measurement method and system design for observing the spatial position and attitude of a moving target by combining an inertial instrument and a laser tracking instrument. Background technique [0002] At present, the common measurement technologies for the position and attitude of moving objects (referred to as pose) in the industrial field mainly include three-dimensional coordinate measuring machine (CMM), electronic theodolite tracking system, total station polar coordinate measurement system and CCD camera system. Their pose calculation principles are as follows: in the position coordinate measurement, the CMM adopts the direct output of the length measurement system, the electronic theodolite adopts the space triangulation method, the polar coordinate measurement system of the total station adopts the polar coordinate method, and the stereo camera system adopt...

Claims

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Application Information

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IPC IPC(8): G01B21/02G01B21/06
Inventor 汪劲松綦麟任革学张嵘张辉南仁东朱文白王启明
Owner TSINGHUA UNIV
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