室内测量定位系统发射站优化及校准技术研究
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摘要
大尺寸工件的精密测量与定位是以航空航天、轨道交通制造为代表的大型装备制造业的基础,是提高精度和效率,保证质量不可或缺的工艺保障手段。基于传统仪器的精密测量与定位过程中,量程与精度矛盾突出,整体性能难以满足大型装备制造的要求。网络式结构的测量系统为解决该矛盾提供原理上的支持。室内测量定位系统正是多个发射站形成网络结构的测量系统,由独立工作的接收器配合,可同时监测大型被测物的各个部件,实时性高,并行性好,通过增加基站的方式协调了测量精度与大空间的矛盾。发射站是整个系统硬件的核心,决定了整个系统硬件的工作性能;而发射站的精确标定,以及系统模型描述的准确度和系统校准技术是构建测量网络软件方面的核心。本文对室内测量定位系统发射站的优化以及系统校准技术进行了研究,主要的研究内容如下:
1、在分析系统组成和测量原理基础上,推导了发射站的测角几何原理,对扫描光平面进行了设计,进一步研究了发射站几何结构参数选择对测角精度的影响,进行参数选择,优化发射站结构。
2、分析了轴系瞬时状态对扫描角测量精度的影响,指出发射站旋转部件性能的重要性。对发射站轴系进行了转子动力学模型推导,并对转子完成了平衡设计,通过有限元分析仿真比较了各参数改变时轴系的动力学性能,为轴系设计提供理论支持。
3、研究了基于方位角交会,以及基于多平面约束两种坐标计算方法。针对基本测量系统提出了一种基于辅助仪器的一体化校准系统的方法,并分析了误差来源。在一体化校准的系统基础上,研究了一种基于数据融合的测量网络构建方法,将多个基本的小型系统的坐标系统一,形成大型测量系统。
4、为进一步完善系统及提高实用性和精度,研究了分步式系统校准方法。建立了精确的平差模型,规范校准参数,分为内参数和外参数。针对初始位置光平面内参数标定方法的缺陷,提出了优化平差模型的方法,研究了任意位置光平面内参数标定方法,采用基于共面约束的全局平差定向方法对外参数进行标定,并研究了平差初值的获取方法。
Precision measurement and position for large scale workpieces is the basis of equipment manufacturing represented by aerospace and traffic equipment manufac-ture, and the indispensable process technology assurance means for improving preci-sion and efficiency and ensuring quality. In the process of precision measurement and position with traditional instruments, conflict between measuring range and accuracy is prominent. Integral performance of the instruments can not meet requires of large scale equipment manufacture. The type of network structure for measuring system provides support in theory for solving the problem. Indoor measurement positioning system is such a system. The system is composed of multiple measuring stations, combining with independent receivers, can measure the whole object with high real-time and better concurrency. It can balance accuracy and large measuring space via increasing stations. The station, which determines the performance of system hardware, is the core of network measuring system’s hardware framework. In addi-tion,precision calibration of station’s parameters, accurate description of system model and system calibration are the key technology in the software aspect. This pa-per is focus on station optimization and system calibration of the indoor measurement positioning system. The main work is as follow:
1、On the basis of analyzing system composition and measuring principle, geo-metrical principle of transmitter’s angle measurement is deduced. With designing scanning laser plane, and studying on influence of transmitter’s geometry structure parameters on angle measuring precision, the parameters are selected to optimize transmitter’s structure.
2、With analyzing influence of transient state of shaft system on scanning angle measuring accuracy, importance of working performance of transmitter’s rotating parts is indicated. Rotor dynamic model of transmitter shafting is deduced, balance design for rotor is finished, and dynamic performance of several shafting with differ-ent parameters are compared by finite element simulation analyzing, all of these pro-vide theoretical support for shafting design.
3、Two system coordinate calculating methods based on azimuth intersection and multi-plane constraint are studied. An integrated calibrating method for fundamental measuring system based on auxiliary instrument is proposed, and the error sources are analyzed. Measuring network construction method based on data fusion is applied in the integrated calibrated systems, so that coordinate systems of them can be unified and large measuring system is formed.
4、For perfecting system and improving practicality and accuracy, a step-by-step system calibration method is studied. An accurate adjustment model is established, calibration parameters are classified into intrinsic and extrinsic parameters. In view of the defect of initial position laser plane calibrating method for intrinsic parameters calibration, the model is improved, and arbitrary position laser plane intrinsic pa-rameters calibration method is studied. For extrinsic parameters calibration, a global adjustment orientation approach based on coplanar constraint is presented,the methods for acquiring adjustment initial estimates are studied.
1、在分析系统组成和测量原理基础上,推导了发射站的测角几何原理,对扫描光平面进行了设计,进一步研究了发射站几何结构参数选择对测角精度的影响,进行参数选择,优化发射站结构。
2、分析了轴系瞬时状态对扫描角测量精度的影响,指出发射站旋转部件性能的重要性。对发射站轴系进行了转子动力学模型推导,并对转子完成了平衡设计,通过有限元分析仿真比较了各参数改变时轴系的动力学性能,为轴系设计提供理论支持。
3、研究了基于方位角交会,以及基于多平面约束两种坐标计算方法。针对基本测量系统提出了一种基于辅助仪器的一体化校准系统的方法,并分析了误差来源。在一体化校准的系统基础上,研究了一种基于数据融合的测量网络构建方法,将多个基本的小型系统的坐标系统一,形成大型测量系统。
4、为进一步完善系统及提高实用性和精度,研究了分步式系统校准方法。建立了精确的平差模型,规范校准参数,分为内参数和外参数。针对初始位置光平面内参数标定方法的缺陷,提出了优化平差模型的方法,研究了任意位置光平面内参数标定方法,采用基于共面约束的全局平差定向方法对外参数进行标定,并研究了平差初值的获取方法。
Precision measurement and position for large scale workpieces is the basis of equipment manufacturing represented by aerospace and traffic equipment manufac-ture, and the indispensable process technology assurance means for improving preci-sion and efficiency and ensuring quality. In the process of precision measurement and position with traditional instruments, conflict between measuring range and accuracy is prominent. Integral performance of the instruments can not meet requires of large scale equipment manufacture. The type of network structure for measuring system provides support in theory for solving the problem. Indoor measurement positioning system is such a system. The system is composed of multiple measuring stations, combining with independent receivers, can measure the whole object with high real-time and better concurrency. It can balance accuracy and large measuring space via increasing stations. The station, which determines the performance of system hardware, is the core of network measuring system’s hardware framework. In addi-tion,precision calibration of station’s parameters, accurate description of system model and system calibration are the key technology in the software aspect. This pa-per is focus on station optimization and system calibration of the indoor measurement positioning system. The main work is as follow:
1、On the basis of analyzing system composition and measuring principle, geo-metrical principle of transmitter’s angle measurement is deduced. With designing scanning laser plane, and studying on influence of transmitter’s geometry structure parameters on angle measuring precision, the parameters are selected to optimize transmitter’s structure.
2、With analyzing influence of transient state of shaft system on scanning angle measuring accuracy, importance of working performance of transmitter’s rotating parts is indicated. Rotor dynamic model of transmitter shafting is deduced, balance design for rotor is finished, and dynamic performance of several shafting with differ-ent parameters are compared by finite element simulation analyzing, all of these pro-vide theoretical support for shafting design.
3、Two system coordinate calculating methods based on azimuth intersection and multi-plane constraint are studied. An integrated calibrating method for fundamental measuring system based on auxiliary instrument is proposed, and the error sources are analyzed. Measuring network construction method based on data fusion is applied in the integrated calibrated systems, so that coordinate systems of them can be unified and large measuring system is formed.
4、For perfecting system and improving practicality and accuracy, a step-by-step system calibration method is studied. An accurate adjustment model is established, calibration parameters are classified into intrinsic and extrinsic parameters. In view of the defect of initial position laser plane calibrating method for intrinsic parameters calibration, the model is improved, and arbitrary position laser plane intrinsic pa-rameters calibration method is studied. For extrinsic parameters calibration, a global adjustment orientation approach based on coplanar constraint is presented,the methods for acquiring adjustment initial estimates are studied.
引文
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