室内测量定位系统测角精度分析及补偿方法研究
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摘要
大尺寸坐标测量是大型装备制造及精密工程安装的基础支撑技术之一,也是精密测量技术的热点和难点问题。重大基础装备工业的快速发展使得大尺寸坐标测量日渐重要,室内测量定位系统是分布式网络结构的大尺寸坐标测量系统,它由分布于测量空间的发射站和独立工作的接收器组成,多任务监测大型被测物的各个部件,实时性高,并行性好,并且可通过增加发射站的方式协调测量精度与大空间的矛盾。室内测量定位系统必须实现仪器校准与量值溯源,但目前尚缺乏对测角误差、误差合成与传递方法的研究,也缺乏对校准及补偿方法的研究,这在一定程度上制约了室内测量定位系统软件的设计及其应用推广。
本文对室内测量定位系统测角精度及补偿方法进行了研究,主要的研究内容如下:
1、在分析系统结构及测量原理的基础上,推导了发射站测角模型,阐述系统测角误差来源并对其进行了评定。利用蒙特卡洛仿真给出空间任意位置发射站的测角误差,获取测量空间内的测角误差分布。研究了测角误差到测点误差的传递模型,并基于单站测角误差,研究了多站情况下的测点误差。
2、在研究了经纬仪的检定装置和方法基础上,设计了系统发射站水平角校准装置,设计了分度台与发射站调同轴装置,并研究了调整误差对校准的影响,提出了校准方法和流程,并利用实验装置完成发射站的水平角校准。
3、分析了系统标定误差引入的测量误差和校准平台调整造成的校准误差。对标定和测量误差建立了全局控制场,推导了利用全局控制场的多个点补偿测量点的迭代补偿方程,同时提出了利用多个点实时补偿测量点的方法。对于校准误差,提出了补偿方程,研究了利用最小二乘拟合的方法补偿校准平台的调整误差。
4、设计了由发射站、接收器、控制场及计算机组成的系统测量架构,研究了分布式架构下各子单元的设计、系统测量原理和标定方法,阐述数据管理方法,并设计了分布式架构下的测量软件。
Large-scale engineering metrology is one of the basic supporting technique in large-scale manufacture and precision engineering installation,which is also a hot and difficult problem in precision measurement technology.With the rapid development of current foundational equipment manufacturing,large-scale engineering metrology become more important. So indoor workspace measurement positioning system(wMPS) is developed with distributed network architecture which is made up of transmitters and independent receivers. It’s designed for measuring the large scale products of industries with high real-time and better concurrency. Moreover, accuracy and large measuring space can be balanced by increasing transmitters. The calibration and traceability of measurement system are required. However, researches on angular error and its synthesis and transfer are lacked. In addition, researches on verification and compensation of wMPS are lacked. All of those restrict software design and application of the system.
This paper is focus on angle measurement uncertainty and compensation method of the indoor measurement positioning system. The main work is as follow:
1. Theoretical definition of metrology process models of wMPS was described and uncertainties were propagated from internal parameters using Monte Carlo simulation. Furthermore, error propagation model from angular error to coordinate error was proposed and muti-transimitter coordinate error was discussed based on angular error of single transmitter.
2. The horizontal angle calibration platform was designed on the basis of verification system for theodolite. And then, coaxial adjustment mechanism was designed to adjust the two rotation axes of transmitter head of wMPS and dividing table. Meanwhile, data analysis method and process of horizontal angle calibration were proposed. Finally, horizontal angle uncertainty was measured in the working space based on designed platform.
3. Based on mathematical model analysis and error analysis of calibration, global control network was constructed in the workbench and error compensation method was proposed for calibration error in order to improve measurement accuracy. Meanwhile, real-time compensation method for measurement points was discussed based on the control network. And then, the princeple of compensation method based on least-squares fitting was outlined to compensate the error caused by calibration platform.
4. wMPS is a multi-station system with transmitters, receivers and control network distributed in the measuring space. The architecture, sub-modules, measurement principle and calibration method were studied. Meanwhile, the data management and software design under distributed architecture were discussed.
本文对室内测量定位系统测角精度及补偿方法进行了研究,主要的研究内容如下:
1、在分析系统结构及测量原理的基础上,推导了发射站测角模型,阐述系统测角误差来源并对其进行了评定。利用蒙特卡洛仿真给出空间任意位置发射站的测角误差,获取测量空间内的测角误差分布。研究了测角误差到测点误差的传递模型,并基于单站测角误差,研究了多站情况下的测点误差。
2、在研究了经纬仪的检定装置和方法基础上,设计了系统发射站水平角校准装置,设计了分度台与发射站调同轴装置,并研究了调整误差对校准的影响,提出了校准方法和流程,并利用实验装置完成发射站的水平角校准。
3、分析了系统标定误差引入的测量误差和校准平台调整造成的校准误差。对标定和测量误差建立了全局控制场,推导了利用全局控制场的多个点补偿测量点的迭代补偿方程,同时提出了利用多个点实时补偿测量点的方法。对于校准误差,提出了补偿方程,研究了利用最小二乘拟合的方法补偿校准平台的调整误差。
4、设计了由发射站、接收器、控制场及计算机组成的系统测量架构,研究了分布式架构下各子单元的设计、系统测量原理和标定方法,阐述数据管理方法,并设计了分布式架构下的测量软件。
Large-scale engineering metrology is one of the basic supporting technique in large-scale manufacture and precision engineering installation,which is also a hot and difficult problem in precision measurement technology.With the rapid development of current foundational equipment manufacturing,large-scale engineering metrology become more important. So indoor workspace measurement positioning system(wMPS) is developed with distributed network architecture which is made up of transmitters and independent receivers. It’s designed for measuring the large scale products of industries with high real-time and better concurrency. Moreover, accuracy and large measuring space can be balanced by increasing transmitters. The calibration and traceability of measurement system are required. However, researches on angular error and its synthesis and transfer are lacked. In addition, researches on verification and compensation of wMPS are lacked. All of those restrict software design and application of the system.
This paper is focus on angle measurement uncertainty and compensation method of the indoor measurement positioning system. The main work is as follow:
1. Theoretical definition of metrology process models of wMPS was described and uncertainties were propagated from internal parameters using Monte Carlo simulation. Furthermore, error propagation model from angular error to coordinate error was proposed and muti-transimitter coordinate error was discussed based on angular error of single transmitter.
2. The horizontal angle calibration platform was designed on the basis of verification system for theodolite. And then, coaxial adjustment mechanism was designed to adjust the two rotation axes of transmitter head of wMPS and dividing table. Meanwhile, data analysis method and process of horizontal angle calibration were proposed. Finally, horizontal angle uncertainty was measured in the working space based on designed platform.
3. Based on mathematical model analysis and error analysis of calibration, global control network was constructed in the workbench and error compensation method was proposed for calibration error in order to improve measurement accuracy. Meanwhile, real-time compensation method for measurement points was discussed based on the control network. And then, the princeple of compensation method based on least-squares fitting was outlined to compensate the error caused by calibration platform.
4. wMPS is a multi-station system with transmitters, receivers and control network distributed in the measuring space. The architecture, sub-modules, measurement principle and calibration method were studied. Meanwhile, the data management and software design under distributed architecture were discussed.
引文
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