基于视觉的目标跟踪与空间坐标定位系统研究
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摘要
以大型、极端大型零部件的集成制造与精密装配为代表的一系列基础工业与重工业均需要大尺寸特别是远距离大尺寸测量技术提供精度保证。远距离大尺寸测量系统必须在工业现场组建并实现仪器校准与量值溯源,受恶劣现场条件限制,远距离大尺寸测量技术尚缺乏关于全局测量站布置以及多个设备间的误差分配、合成与传递的一般性理论分析方法;复杂的现场环境与巨大的工作空间对高精度、高效率、高自动化的测量过程也提出了很高的要求。远距离大尺寸测量技术已经成为影响国家装备制造业整体发展水平以及相关产业的重要制约因素。
论文以激光电子经纬仪大尺寸测量系统为具体研究目标,结合图像处理技术、现代控制理论、成像跟踪理论以及演化算法等关键技术,对多测量站布置优化、目标定位精度等理论问题进行了深入研究,并实现了基于视觉的目标跟踪以及空间坐标定位过程。相关理论与实验表明,本论文提出的测站优化布置方法与跟踪测量过程有着较好的测量精度、效率与适应性,可应用于实际工业测量中。论文的主要研究内容与具体工作如下:
1.介绍了不同类型远距离大尺寸系统测量原理、国内外发展现状及其在工业中特别是现代装备制造业中的需求,并重点分析了现有远距离大尺寸坐标测量系统在自动化水平、测量精度等方面的发展研究现状。
2.对电子经纬仪系统通用测量原理、定向算法以及测量数据处理方法等进行了完整的理论推导,分析了双经纬仪系统最佳空间测量点位置以及多个大尺寸测量系统坐标系配准等基础理论。
3.研究了基于最小二乘测量原理以及误差分离测量测量原理的电子经纬仪系统通用布站数学模型,并通过现代演化算法实现了复杂现场约束条件下多经纬仪测站的优化配置;研究了电子经纬仪系统单站误差源以及基于蒙特卡罗方法的空间目标定位不确定度评定方法。
4.介绍了基于激光电子经纬仪的目标跟踪与空间定位系统结构与基本工作原理,建立了基于现代成像跟踪与滤波估值算法的空间运动目标跟踪模型以及基于云台运动学的激光点引导模型,将激光电子经纬仪系统应用于目标动态跟踪与测量领域。
5.研究了基于插值瞄准的激光电子经纬仪空间角度交会测量算法。建立了基于图像的镜头自适应变焦模型以及激光电子经纬仪扫描线模型,实现经纬仪激光点未精确对准被测特征时对空间目标点的高效测量,并对目标定位精度进行了详细分析。
Measuring accuracy for the integrated manufacturing and precision assembly process must be guaranteed by large-size coordinate measuring technology, especially by large-size coordinate measuring technology for long distance in a series of basic industry and heavy industry. Large-size coordinate measurement systems must be established, calibrated and traced in the industrial field. Due to bad field conditions, there is lack of the general theory about the formation of global measuring stations and the analysis method for error distribution, synthesis and transmission between multiple instruments. It brings forward high request for measurement process with high precision, high efficiency and high automation because of complex field of work environment and the huge space. Large-size measurement process for long distance has had an important impact on the development of national equipment manufacturing industry and related fields.
Combined with image processing technology, modern control theory, image tracking theory, evolutionary algorithms and other key technologies, the related theory about optimal disposition for multiple sensors and the target location accuracy analysis based on laser electronic theodolites large-size measurement system is studied in the paper, and a target tracking and spatial coordinates positioning process based on machine vision is implemented. The theory and experimental results show that the proposed methods for optimization of stations and tracking measurement process has satisfactory measurement accuracy, efficiency and adaptability, which can be applied in actual industrial measurements. The main research content and the specific tasks of the paper are described as follows:
1. The measuring principle, the present development situations at home and abroad as well as the demand of different types of large-size measuremet systems for long distance in industry especially in modern equipment manufacturing is described, then the present situations of the automation level and measuring accuracy for the current large-size measurement instruments are analyzed emphatically.
2. Common measuring principle, directional algorithm and measurement data processing method for electronic theodolite system is deduced in details, and the basic theory about the best position in the measurement space for two theodolites system and the common coordinate registration for large-size measuring systems is analyzed.
3. The common distribution model for electronic theodolite system based on least squares algorithm and error separation algorithm is studied, and the optimization of the multiple electronic theodolite stations with complex spatial constraints is carried out by modern evolutionary algorithm. The sources of error for a single electronic theodolite are analyzed, and the targeting uncertainty is evaluated by Monte Carlo methods.
4. The architecture and basic working principles of the target tracking and spatial coordinate measurement system based on laser electronic theodolite is introduced. The tracking model for spatial moving target based on modern imaging tracking and filtering estimation algorithm is established, and the laser guidance model based on kinematics of the rotating stage is built in order to apply laser electronic theodolite system to objective dynamic measurements.
5. The measurement method with spatial angle intersection of laser electronic theodolite based on aiming interpolation is studied. Image-based adaptive zoom lens model and the model of laser scan line of laser electronic theodolites are established in order to locate the spatial target efficiently when the laser spot is not coincided with characteristics of the target, and the target positioning accuracy is analyzed in details.
论文以激光电子经纬仪大尺寸测量系统为具体研究目标,结合图像处理技术、现代控制理论、成像跟踪理论以及演化算法等关键技术,对多测量站布置优化、目标定位精度等理论问题进行了深入研究,并实现了基于视觉的目标跟踪以及空间坐标定位过程。相关理论与实验表明,本论文提出的测站优化布置方法与跟踪测量过程有着较好的测量精度、效率与适应性,可应用于实际工业测量中。论文的主要研究内容与具体工作如下:
1.介绍了不同类型远距离大尺寸系统测量原理、国内外发展现状及其在工业中特别是现代装备制造业中的需求,并重点分析了现有远距离大尺寸坐标测量系统在自动化水平、测量精度等方面的发展研究现状。
2.对电子经纬仪系统通用测量原理、定向算法以及测量数据处理方法等进行了完整的理论推导,分析了双经纬仪系统最佳空间测量点位置以及多个大尺寸测量系统坐标系配准等基础理论。
3.研究了基于最小二乘测量原理以及误差分离测量测量原理的电子经纬仪系统通用布站数学模型,并通过现代演化算法实现了复杂现场约束条件下多经纬仪测站的优化配置;研究了电子经纬仪系统单站误差源以及基于蒙特卡罗方法的空间目标定位不确定度评定方法。
4.介绍了基于激光电子经纬仪的目标跟踪与空间定位系统结构与基本工作原理,建立了基于现代成像跟踪与滤波估值算法的空间运动目标跟踪模型以及基于云台运动学的激光点引导模型,将激光电子经纬仪系统应用于目标动态跟踪与测量领域。
5.研究了基于插值瞄准的激光电子经纬仪空间角度交会测量算法。建立了基于图像的镜头自适应变焦模型以及激光电子经纬仪扫描线模型,实现经纬仪激光点未精确对准被测特征时对空间目标点的高效测量,并对目标定位精度进行了详细分析。
Measuring accuracy for the integrated manufacturing and precision assembly process must be guaranteed by large-size coordinate measuring technology, especially by large-size coordinate measuring technology for long distance in a series of basic industry and heavy industry. Large-size coordinate measurement systems must be established, calibrated and traced in the industrial field. Due to bad field conditions, there is lack of the general theory about the formation of global measuring stations and the analysis method for error distribution, synthesis and transmission between multiple instruments. It brings forward high request for measurement process with high precision, high efficiency and high automation because of complex field of work environment and the huge space. Large-size measurement process for long distance has had an important impact on the development of national equipment manufacturing industry and related fields.
Combined with image processing technology, modern control theory, image tracking theory, evolutionary algorithms and other key technologies, the related theory about optimal disposition for multiple sensors and the target location accuracy analysis based on laser electronic theodolites large-size measurement system is studied in the paper, and a target tracking and spatial coordinates positioning process based on machine vision is implemented. The theory and experimental results show that the proposed methods for optimization of stations and tracking measurement process has satisfactory measurement accuracy, efficiency and adaptability, which can be applied in actual industrial measurements. The main research content and the specific tasks of the paper are described as follows:
1. The measuring principle, the present development situations at home and abroad as well as the demand of different types of large-size measuremet systems for long distance in industry especially in modern equipment manufacturing is described, then the present situations of the automation level and measuring accuracy for the current large-size measurement instruments are analyzed emphatically.
2. Common measuring principle, directional algorithm and measurement data processing method for electronic theodolite system is deduced in details, and the basic theory about the best position in the measurement space for two theodolites system and the common coordinate registration for large-size measuring systems is analyzed.
3. The common distribution model for electronic theodolite system based on least squares algorithm and error separation algorithm is studied, and the optimization of the multiple electronic theodolite stations with complex spatial constraints is carried out by modern evolutionary algorithm. The sources of error for a single electronic theodolite are analyzed, and the targeting uncertainty is evaluated by Monte Carlo methods.
4. The architecture and basic working principles of the target tracking and spatial coordinate measurement system based on laser electronic theodolite is introduced. The tracking model for spatial moving target based on modern imaging tracking and filtering estimation algorithm is established, and the laser guidance model based on kinematics of the rotating stage is built in order to apply laser electronic theodolite system to objective dynamic measurements.
5. The measurement method with spatial angle intersection of laser electronic theodolite based on aiming interpolation is studied. Image-based adaptive zoom lens model and the model of laser scan line of laser electronic theodolites are established in order to locate the spatial target efficiently when the laser spot is not coincided with characteristics of the target, and the target positioning accuracy is analyzed in details.
引文
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