网络式激光扫描空间大型设备定位测量研究
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摘要
对网络式激光扫描空间大型设备进行定位测量,在提高设备使用精准度方面具有重要意义。由于设备的使用环境及使用时长的不同,使得网络式激光扫描空间坐标易变,传统测量方法,通常利用一体化定位方法进行外标定,对设备使用中旋转及平移造成的影响考虑不全,导致在运行过程中出现测量精度差,偏移量大的问题。提出基于罗德里格矩阵的大型设备定位测量方法。根据网络式激光扫描空间大型设备定位测量原理,结合空间设备结构特点,建立大型设备几何模型,进行一体化定位,引入罗德里格矩阵,推导出空间设备旋转及平移参数,将网络式激光扫描空间大型设备定位测量问题,转化为设备外参数求解问题,实现网络式激光扫描空间大型设备定位测量。实验结果表明,相比传统方法,改进测量方法测量精度高,便宜量小,具有一定的优势。
A location measurement method for large equipment based on Roderick matrix is proposed. According to the location measurement principle of large equipment based on network laser scanning,combining with the structural characteristics of space equipment,the geometric model of large equipment is built for the integrated positioning. Roderick matrix is introduced to derive rotation parameter and translation parameter of space equipment. The positioning measurement problem of large space equipment based on network laser scanning is translated into the problem of solving extrinsic parameter of equipment. The positioning measurement problem of large equipment based on network laser scanning is realized. Simulation results show that,compared with traditional methods,the improved measurement method has high precision and few offset.
A location measurement method for large equipment based on Roderick matrix is proposed. According to the location measurement principle of large equipment based on network laser scanning,combining with the structural characteristics of space equipment,the geometric model of large equipment is built for the integrated positioning. Roderick matrix is introduced to derive rotation parameter and translation parameter of space equipment. The positioning measurement problem of large space equipment based on network laser scanning is translated into the problem of solving extrinsic parameter of equipment. The positioning measurement problem of large equipment based on network laser scanning is realized. Simulation results show that,compared with traditional methods,the improved measurement method has high precision and few offset.
引文
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[3]张晓龙,等.基于全局空间控制的高精度柔性视觉测量系统研究[J].红外与激光工程,2015,44(9):2805-2812.
[4]王向军,等.远距离三维坐标测量中双目视觉系统结构参数的优化[J].光学精密工程,2015,23(10):2902-2908.
[5]曹润宁,等.工件与目标位置双定位视觉系统快速现场标定方法[J].制造业自动化,2016,38(12):31-34.
[6]任永杰,等.采用互扫描法自动标定工作空间定位系统[J].光学精密工程,2015,23(3):609-616.
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