一种基于多传感系统协同测量的联合平差组网方法
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摘要
针对大型装配制造业中的大尺寸、高精度、高效率、低成本的测量要求,提出了一种通用的基于多传感系统协同测量的联合平差组网方法。首先,介绍了多传感系统协同测量的工作模式与基本原理;然后,设计了一种基于联合平差的组网方法,该方法以系统的传感单元观测值构建约束方程,采用了Levenberg-Marquardt算法完成优化函数的求解,为完善求解过程设计了基于后方交汇原理的迭代初值获取方法;最后,在现场设计了精度验证实验,数据表明由室内GPS和激光跟踪仪组成的协同测量网络的测量误差小于±0.06 mm,验证了算法的正确性和精度。
In order to meet the measurement requirements of large size,high precision,high efficiency and low cost in large-scale equipment manufacturing industry,a general combined adjustment network method based on cooperative measurement of multi-sensor system is proposed. Firstly,the model and mathematic principle of the measurement network construction method is presented. Secondly,the constraint equations based on multi-sensor unit in each measuring system is constructed. In order to solve the equations,Levenberg-Marquardt method is used.Both calculation method for optimization and the produce of the initial value are given. In this way,the positions of the measurement systems and the coordinates of the measurement points can be got. The experimental data show that the distance measurement error is within±0.06 mm compared with the one-dimensional standard. The data can prove the correctness and accuracy of the method.
In order to meet the measurement requirements of large size,high precision,high efficiency and low cost in large-scale equipment manufacturing industry,a general combined adjustment network method based on cooperative measurement of multi-sensor system is proposed. Firstly,the model and mathematic principle of the measurement network construction method is presented. Secondly,the constraint equations based on multi-sensor unit in each measuring system is constructed. In order to solve the equations,Levenberg-Marquardt method is used.Both calculation method for optimization and the produce of the initial value are given. In this way,the positions of the measurement systems and the coordinates of the measurement points can be got. The experimental data show that the distance measurement error is within±0.06 mm compared with the one-dimensional standard. The data can prove the correctness and accuracy of the method.
引文
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[2]程璠.《中国制造2025》工程机械产业新机遇[J].今日工程机械,2015,7(7):28-29.
[3]项新建.基于模糊数学与统计理论集成的多传感器数据融合方法[J].传感技术学报,2004,17(2):197-199.
[4]赵建国,刘新宇,于思阳.飞机大型复杂构件三维数字化协同测量方法研究[J].航空制造技术,2018,61(5):55-59.
[5]于勇,陶剑,范玉青.大飞机数字化装配技术——波音787飞机装配技术及其装配过程[J].航空制造技术,2009(14):42-47.
[6]杨凡,范百兴,李广云,等.大尺寸高精度三维控制网技术探讨[J].测绘科学技术学报,2015,32(2):120-124.
[7]张滋黎,邾继贵,耿娜,等.双经纬仪三维坐标测量系统设计[J].传感技术学报,2010,23(5):660-664.
[8] Zhao Z Y,Zhu J G,Xue B,et al. Optimization for Calibration of Large-Scale Optical Measurement Positioning System by Using Spherical Constraint[J]. J Opt Soc Am A—Opt Image Sci Vis,2014,31(7):1427-1435.
[9]余修武,范飞生,周利兴,等.无线传感器网络自适应预测加权数据融合算法[J].传感技术学报,2017,30(5):772-776.
[10]廖惜春,丘敏,麦汉荣.基于参数估计的多传感器数据融合算法研究[J].传感技术学报,2007,20(1):193-197.
[11]都强,杭柏林.最小二乘法在多传感器测量标定中的应用[J].传感技术学报,2005,18(2):244-246.
[12] Behling R,Fischer A,Herrich M,et al. A Levenberg-Marquardt Method with Approximate Projections[J]. Comput Optim Appl,2014,59(1-2):5-26.
[13] Kalman R E. A New Approach to Linear Filtering and Prediction Theory[J]. Jbasic Engtransasme,1960,82d(1):35-45.
[14]勃拉涅茨,什梅格列夫斯基,梁振和.四元数在刚体定位问题中的应用[M].国防工业出版社,1977.
[15]赵子越,邾继贵,杨凌辉.采用精确三维控制场的wMPS全局组网定向方法[J].红外与激光工程,2016,45(11):151-156.