基于无线传感器网络的空间坐标测量技术研究
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摘要
在大型机械装备制造及装配过程中,工件的几何尺寸和形位误差测量,是保证整套设备质量的关键因素。在《国家中长期科学和技术发展规划纲要》中,将“极端制造技术”列入了“先进制造技术”领域的“前沿技术”,明确提出要重点研究与“巨系统制造”相关的设计方法、制造工艺和检测技术。随着巨系统的产业化发展,“高效快速”测量方法及测量系统成为巨系统研究领域急于解决的课题。
本学位论文选题来源于国家自然科学基金资助项目——基于无线传感网络引导的高精度超大空间坐标测量网络关键技术(51275149),该项目研究的高精度超大空间坐标测量网络由两个网络构成：多边激光测距网络用于尺寸为数十米的重大装备几何参量的精密测量；无线传感空间定位网络实现标靶节点空间粗定位,引导激光测距仪自动瞄准,整个测量过程自动完成。由于多边激光测距网络中激光器瞄准的靶镜直径最大为7cm,因此要求实现测量引导的空间无线定位网络的定位精度必须优于7cm,而目前市场上有售的无线定位系统难以满足课题研制的需求。
因此本论文围绕高精度空间无线定位技术开展了深入的研究,主要的研究工作和创新点如下：
(1)提出了基于复合到达时间差测量的空间无线定位技术
该技术利用“单信标节点不同(传播速度)脉冲信号测距”及“双信标节点相同(传播速度)脉冲信号测距”得到的冗余测量结果,由加权极大似然法对移动节点进行定位,从而将空间定位重复性提高到毫米量级。
(2)提出了基于空间定位误差分析的无线定位网络优化构建方法
深入研究了无线定位网络结构参量(信标节点数量及布局)与定位空间内各点定位精度间的关系及精度空间分布模型,提出了定位网络构建时,根据被测对象立体尺寸及测量精度要求(整体精度要求、局部精度要求),科学构建非规则测量网络的方法。由于无线定位网络与后续的激光坐标测量系统均基于测长多边形法,因此该优化设计方法也适用于激光坐标测量网络的构建。
(3)研制了基于复合到达时间差的空间无线定位网络
基于复合到达时间差的空间无线定位网络,由信标节点系统、移动节点系统及定位控制系统所组成,其中信标节点系统主要实现不同信号的发射；移动节点主要实现到达时间差的测量：定位控制系统主要实现定位过程控制及测量信息处理。本文完成了上述各类系统的硬件及软件研制。
(4)完成了若干研究实验和标定实验
实验研究了传播距离、发射角度以及环境温度对超声波测距精度的影响特性,确定了测距误差修正模型;同时研究了超声波传播距离、发射角度对测距可靠性的影响,确定了测距权值模型；对基于复合到达时间差的无线定位网络的定位精度进行了标定实验,检验了该定位网络、权值模型的正确性,以及误差修正模型的有效性。实验结果表明,该定位网络的空间定位重复性达到毫米量级,实现了目标要求。
In the process of manufacture and assembling of large mechanical equipments, precision measurement of workpiece's physical dimension and shape and position error is a key factor for ensuring high manufacturing quality of the whole equipment. In "National Medium-term and Long-term Planning Brief for Development of Science and Technology", extreme manufacturing technology is seemed to be the cutting-edge technology of advanced manufacturing technology, and design method, manufacturing technology and measurement technology for huge system should be researched specially. With the development of huge system's industrialization, high-efficiency measurement method and system has become an urgent issue in the field of research of huge system.
The dissertation was based on a research project of "key technologies of3D coordinate measuring network with high precision for extra-large space based on wireless sensor network" sponsored by the National Natural Science Foundation. The3D coordinate measuring network with high precision for extra-large space in the project, consists of two network components:laser measurement network based on multi-lateration ranging to acquire high measuring precision for geometric parameters of major equipment with dimensions of tens of meters, and wireless sensor network to achieve coarse positioning of spatial targets and offer the high-precision laser spatial coordinate measuring system measuring guide and measure automatically. Because of peak diameter of target mirror in the laser spatial coordinate measuring system is7cm, positioning accuracy of wireless positioning system for measuring guide must be better than7cm. But the wireless positioning systems currently supplied in market cannot meet the demands of the subject.
In this dissertation, a systematic study in depth about high-precision spatial wireless positioning technology was carried out. The main works and its originality of this dissertation are as follows:
(1)The design of a spatial wireless positioning method based on compound time-difference of arrival
The method combined arriving time-difference of different (spread velocity) pulse signals simultaneously transmitted from one known position node (a beacon node) to a unknown position node (a mobile node) for ranging with arriving time-difference of same (spread velocity) pulse signals transmitted one after another at a certain interval from dual beacon nodes to the mobile node for range difference measurement, and then calculated estimated spatial positions of the mobile node by redundant measurement data and the maximum likelihood method algorithm, which can acquire positioning repeatability of millimeter.
(2)The design of an optimization method based on spatial positioning error analysis for wireless positioning network
By deep research on relation between structure parameters (number and layout of beacon nodes) of wireless positioning network and positioning precision of space nodes and spatial distribution model of positioning precision, a method which selected appropriate structure parameters according to3D dimension and measurement accuracy requirements (overall accuracy and local accuracy) of measured objects, can provide scientific basis for building appropriate irregular positioning network. The optimization method can be suitable for space laser coordinate measuring system, which is also based on multi-lateration ranging.
(3)The construction of space wireless positioning network based on compound time-difference of arrival
Space wireless positioning network, which is based on compound time-difference of arrival, included beacon node system, mobile node system and positioning control system. The beacon node system primarily achieved emission of radio frequency signal and ultrasonic signal, the mobile node system mainly achieved time-difference measurement of arrival, and the positioning control system primarily achieved positioning process control and measurement information processing. The hardware and software of above systems were designed in the dissertation.
(4)The completion of some research experiments and calibration experiments
Experimental studies the relation between analyzed propagation distance and beam angle of ultrasonic and ambient temperature with ranging accuracy, which determined ranging error correction model, and relation between propagation distance and beam angle of ultrasonic with ranging reliability, which determined ranging weights model. The positioning accuracy of the wireless positioning network based on compound time-difference of arrival has been calibrated, and ranging error correction model and ranging weights model testified. The experimental results showed that the wireless positioning network can acquire positioning repeatability of millimeter and meet measuring guide demands of high-precision laser spatial coordinate measuring system.
本学位论文选题来源于国家自然科学基金资助项目——基于无线传感网络引导的高精度超大空间坐标测量网络关键技术(51275149),该项目研究的高精度超大空间坐标测量网络由两个网络构成：多边激光测距网络用于尺寸为数十米的重大装备几何参量的精密测量；无线传感空间定位网络实现标靶节点空间粗定位,引导激光测距仪自动瞄准,整个测量过程自动完成。由于多边激光测距网络中激光器瞄准的靶镜直径最大为7cm,因此要求实现测量引导的空间无线定位网络的定位精度必须优于7cm,而目前市场上有售的无线定位系统难以满足课题研制的需求。
因此本论文围绕高精度空间无线定位技术开展了深入的研究,主要的研究工作和创新点如下：
(1)提出了基于复合到达时间差测量的空间无线定位技术
该技术利用“单信标节点不同(传播速度)脉冲信号测距”及“双信标节点相同(传播速度)脉冲信号测距”得到的冗余测量结果,由加权极大似然法对移动节点进行定位,从而将空间定位重复性提高到毫米量级。
(2)提出了基于空间定位误差分析的无线定位网络优化构建方法
深入研究了无线定位网络结构参量(信标节点数量及布局)与定位空间内各点定位精度间的关系及精度空间分布模型,提出了定位网络构建时,根据被测对象立体尺寸及测量精度要求(整体精度要求、局部精度要求),科学构建非规则测量网络的方法。由于无线定位网络与后续的激光坐标测量系统均基于测长多边形法,因此该优化设计方法也适用于激光坐标测量网络的构建。
(3)研制了基于复合到达时间差的空间无线定位网络
基于复合到达时间差的空间无线定位网络,由信标节点系统、移动节点系统及定位控制系统所组成,其中信标节点系统主要实现不同信号的发射；移动节点主要实现到达时间差的测量：定位控制系统主要实现定位过程控制及测量信息处理。本文完成了上述各类系统的硬件及软件研制。
(4)完成了若干研究实验和标定实验
实验研究了传播距离、发射角度以及环境温度对超声波测距精度的影响特性,确定了测距误差修正模型;同时研究了超声波传播距离、发射角度对测距可靠性的影响,确定了测距权值模型；对基于复合到达时间差的无线定位网络的定位精度进行了标定实验,检验了该定位网络、权值模型的正确性,以及误差修正模型的有效性。实验结果表明,该定位网络的空间定位重复性达到毫米量级,实现了目标要求。
In the process of manufacture and assembling of large mechanical equipments, precision measurement of workpiece's physical dimension and shape and position error is a key factor for ensuring high manufacturing quality of the whole equipment. In "National Medium-term and Long-term Planning Brief for Development of Science and Technology", extreme manufacturing technology is seemed to be the cutting-edge technology of advanced manufacturing technology, and design method, manufacturing technology and measurement technology for huge system should be researched specially. With the development of huge system's industrialization, high-efficiency measurement method and system has become an urgent issue in the field of research of huge system.
The dissertation was based on a research project of "key technologies of3D coordinate measuring network with high precision for extra-large space based on wireless sensor network" sponsored by the National Natural Science Foundation. The3D coordinate measuring network with high precision for extra-large space in the project, consists of two network components:laser measurement network based on multi-lateration ranging to acquire high measuring precision for geometric parameters of major equipment with dimensions of tens of meters, and wireless sensor network to achieve coarse positioning of spatial targets and offer the high-precision laser spatial coordinate measuring system measuring guide and measure automatically. Because of peak diameter of target mirror in the laser spatial coordinate measuring system is7cm, positioning accuracy of wireless positioning system for measuring guide must be better than7cm. But the wireless positioning systems currently supplied in market cannot meet the demands of the subject.
In this dissertation, a systematic study in depth about high-precision spatial wireless positioning technology was carried out. The main works and its originality of this dissertation are as follows:
(1)The design of a spatial wireless positioning method based on compound time-difference of arrival
The method combined arriving time-difference of different (spread velocity) pulse signals simultaneously transmitted from one known position node (a beacon node) to a unknown position node (a mobile node) for ranging with arriving time-difference of same (spread velocity) pulse signals transmitted one after another at a certain interval from dual beacon nodes to the mobile node for range difference measurement, and then calculated estimated spatial positions of the mobile node by redundant measurement data and the maximum likelihood method algorithm, which can acquire positioning repeatability of millimeter.
(2)The design of an optimization method based on spatial positioning error analysis for wireless positioning network
By deep research on relation between structure parameters (number and layout of beacon nodes) of wireless positioning network and positioning precision of space nodes and spatial distribution model of positioning precision, a method which selected appropriate structure parameters according to3D dimension and measurement accuracy requirements (overall accuracy and local accuracy) of measured objects, can provide scientific basis for building appropriate irregular positioning network. The optimization method can be suitable for space laser coordinate measuring system, which is also based on multi-lateration ranging.
(3)The construction of space wireless positioning network based on compound time-difference of arrival
Space wireless positioning network, which is based on compound time-difference of arrival, included beacon node system, mobile node system and positioning control system. The beacon node system primarily achieved emission of radio frequency signal and ultrasonic signal, the mobile node system mainly achieved time-difference measurement of arrival, and the positioning control system primarily achieved positioning process control and measurement information processing. The hardware and software of above systems were designed in the dissertation.
(4)The completion of some research experiments and calibration experiments
Experimental studies the relation between analyzed propagation distance and beam angle of ultrasonic and ambient temperature with ranging accuracy, which determined ranging error correction model, and relation between propagation distance and beam angle of ultrasonic with ranging reliability, which determined ranging weights model. The positioning accuracy of the wireless positioning network based on compound time-difference of arrival has been calibrated, and ranging error correction model and ranging weights model testified. The experimental results showed that the wireless positioning network can acquire positioning repeatability of millimeter and meet measuring guide demands of high-precision laser spatial coordinate measuring system.
引文
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