基于EMSCON的多激光跟踪仪协同测量关键技术研究
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摘要
为了监控和定位大量的数字化装备和辅助工装、测量和评估飞机装配准确度、实现各个装配单元的有机集成,激光跟踪仪作为一种高精度的大尺寸测量仪器被应用于飞机装配系统中可提高测量的精度和效率,并实现对装配部件的轨迹监测。
本文以飞机数字化装配为平台,着重研究了多激光跟踪仪(LEICA)协同测量的关键技术,如转站(Bundle)技术、数据融合技术和同步触发技术等；并基于其底层控制软件EMSCON,通过VC++开发了多激光跟踪仪协同测量软件。
本文第一章阐述了论文研究的背景。介绍了现代大尺寸空间测量技术的现状。最后给出了论文的研究内容和框架结构。
第二章阐述了LEICA激光跟踪仪的系统结构、工作原理和它的底层控制软件EMSCON,并介绍了EMSCON的异步通信方式。分析了激光跟踪测量系统的误差。
第三章详细分析了激光跟踪仪转站的本质,归纳了几种常见的位姿关系表达及其相互转换。介绍了EMSCON中的转站接口；提出了基于EMSCON的两台跟踪仪协同转站技术；基于马氏距离的多台激光跟踪仪协同转站技术；基于电子水平仪的带参数约束转站技术；基于粗大误差判别的超差公共点剔除技术；这些技术能充分利用多台激光跟踪仪建立协同观测网,减小固定参考对象变形使公共观测点位置偏移的影响,提高转站精度最终达到提高测量精度的目的。
第四章介绍了激光跟踪仪的触发接口,并结合单片机系统提出了一种可行的多激光跟踪仪同步触发方案,以此来保证多台跟踪仪测量的同时性。
第五章基于飞机数字化装配对于多跟踪仪协同测量系统的功能需求,介绍了基于EMSCON的多跟踪仪协同测量软件的开发。对软件中的各模块进行了设计,最后介绍了软件的界面。
第六章对全文的研究工作进行了总结,并对有待进一步研究的内容进行了展望。
As a measure equipment of wide-range and high accuracy, Laser tracker was applied widely in digital aircraft assembly system to monitor and orientate the digital devices, evaluate the accuracy of assembly, and implement system integration. Applying multi-laser tracker in a digital assembly system may improve the measurement accuracy and efficiency, and implement the trajectory monitoring of the assembly components.
This paper was aimed at the multi-laser tracker measurement technologies, such as orientation technology, data fusion technology and synchronous trigger technology. A software system was developed to control multi-laser tracker for collaborative measurements by applying VC++ and tracker programming interface (EMSCON).
In chapter 1, the article's background and developing trends of large scale measurement in the field of aerospace in overseas were expounded detailing.
In chapter 2, the working principle of laser tracker, EMSCON including its asynchronous communication were expatiated. The Error source of the laser tracker was analyzed.
In chapter 3, the orientation theory of the tracker was introduced firstly. Then the orientation of two trackers based on EMSCON, the orientation of multi-laser trackers based Mahalanobis distance, the parameter constraints orientation based on electronic level and eliminating the inaccurate points based on gross error identification were brought up. These technologies can use multi-laser trackers to build collaborative observation network and reduce the influence of inaccurate point to increase measurement accuracy.
In chapter 4, the trigger interface of Leica was introduced firstly. Then a synchronous trigger solution based on MCU system was developed to ensure simultaneous measurement of multi-laser trackers.
In chapter 5, according to the demands of multi-laser tracker collaborative measurement in digital aircraft assembly system, the development of collaborative measuring system on multi-laser trackers, the interface and structure of the software, the design and the function of modules were introduced.
Finally, in chapter 6, summary for the whole work in this dissertation is given, and the future work is discussed.
本文以飞机数字化装配为平台,着重研究了多激光跟踪仪(LEICA)协同测量的关键技术,如转站(Bundle)技术、数据融合技术和同步触发技术等；并基于其底层控制软件EMSCON,通过VC++开发了多激光跟踪仪协同测量软件。
本文第一章阐述了论文研究的背景。介绍了现代大尺寸空间测量技术的现状。最后给出了论文的研究内容和框架结构。
第二章阐述了LEICA激光跟踪仪的系统结构、工作原理和它的底层控制软件EMSCON,并介绍了EMSCON的异步通信方式。分析了激光跟踪测量系统的误差。
第三章详细分析了激光跟踪仪转站的本质,归纳了几种常见的位姿关系表达及其相互转换。介绍了EMSCON中的转站接口；提出了基于EMSCON的两台跟踪仪协同转站技术；基于马氏距离的多台激光跟踪仪协同转站技术；基于电子水平仪的带参数约束转站技术；基于粗大误差判别的超差公共点剔除技术；这些技术能充分利用多台激光跟踪仪建立协同观测网,减小固定参考对象变形使公共观测点位置偏移的影响,提高转站精度最终达到提高测量精度的目的。
第四章介绍了激光跟踪仪的触发接口,并结合单片机系统提出了一种可行的多激光跟踪仪同步触发方案,以此来保证多台跟踪仪测量的同时性。
第五章基于飞机数字化装配对于多跟踪仪协同测量系统的功能需求,介绍了基于EMSCON的多跟踪仪协同测量软件的开发。对软件中的各模块进行了设计,最后介绍了软件的界面。
第六章对全文的研究工作进行了总结,并对有待进一步研究的内容进行了展望。
As a measure equipment of wide-range and high accuracy, Laser tracker was applied widely in digital aircraft assembly system to monitor and orientate the digital devices, evaluate the accuracy of assembly, and implement system integration. Applying multi-laser tracker in a digital assembly system may improve the measurement accuracy and efficiency, and implement the trajectory monitoring of the assembly components.
This paper was aimed at the multi-laser tracker measurement technologies, such as orientation technology, data fusion technology and synchronous trigger technology. A software system was developed to control multi-laser tracker for collaborative measurements by applying VC++ and tracker programming interface (EMSCON).
In chapter 1, the article's background and developing trends of large scale measurement in the field of aerospace in overseas were expounded detailing.
In chapter 2, the working principle of laser tracker, EMSCON including its asynchronous communication were expatiated. The Error source of the laser tracker was analyzed.
In chapter 3, the orientation theory of the tracker was introduced firstly. Then the orientation of two trackers based on EMSCON, the orientation of multi-laser trackers based Mahalanobis distance, the parameter constraints orientation based on electronic level and eliminating the inaccurate points based on gross error identification were brought up. These technologies can use multi-laser trackers to build collaborative observation network and reduce the influence of inaccurate point to increase measurement accuracy.
In chapter 4, the trigger interface of Leica was introduced firstly. Then a synchronous trigger solution based on MCU system was developed to ensure simultaneous measurement of multi-laser trackers.
In chapter 5, according to the demands of multi-laser tracker collaborative measurement in digital aircraft assembly system, the development of collaborative measuring system on multi-laser trackers, the interface and structure of the software, the design and the function of modules were introduced.
Finally, in chapter 6, summary for the whole work in this dissertation is given, and the future work is discussed.
引文
[1]范玉青.飞机数字化装配技术综述——飞机制造的一次革命性变革.[J]航空制造技术,2006(10)：p.44-48.
[2]刘善国.先进飞机装配技术及其发展[J].航空制造技术,2006,(6)：38-41
[3]梁雪梅,王永栓王晓丽向颖.航空工业数字化协同现状与发展.[J]航空制造技术,2009(11)：p.62-65.
[4]Aronson, R. B. A new look at aircraft assembly. [J] Manufacturing Engineering,2004. 132(3):p.101-+.
[5]John Hartmann. Automated wing panel assembly for the A340-600[J]. Society of Automotive Engineers,2000,7(1):44-47
[6]Weber A. Aerospace prepares to soar again[J]. Assembly Magazine,2003,46(6):58
[7]任晓华.洛克希德·马丁公司的F-22战斗机装配生产线.[J]航空制造技术,2006(8)：p.36-38.
[8]于勇,陶剑,范玉青.波音787飞机装配技术及其装配过.[J]航空制造技术,2009(14)：p.44-46.
[9]杨振,贺磊.利用激光跟踪仪建立高精度微型测边网.[J]红外与激光工程,2008(S1)：p.22-24.
[10]周锦坤,马灯英,梁武根.飞机工装、零部件数控测量技术的发展及激光跟踪仪的应用.中国计量[J],2003,9：65-67
[11]黄涛.激光跟踪测量系统的原理及在飞机型架测量中的应用[J].航空与航天,2005,(1)：27-29,26
[12]秦政琪,王巍,邹爱丽,曲文成.计算机辅助电子经纬仪测量系统在飞机制造中的应用.[J]沈阳航空工业学院学报,2003(2)：p.9-10
[13]Estler, W. T., Edmundson, K. L., Peggs, G. N., Parker, D. H. Large-Scale Metrology-An Update. [J] CIRP Annals-Manufacturing Technology,2002.51(2):p.587-609.
[14]贾永红.基于激光雷达测量技术的矿用汽车在线自动计量系统.[J]矿业研究与开发,2006(2)：p.62-63,80.
[15]杨洋.激光雷达在大气测量中的应用.[J]现代物理知识,2001(3)：p.31-32..
[16]张国雄,吴晓峰.室内GPS测量系统及其在飞机装配中的应用.[J]航空精密制造技术,2006.42(5)：p.1-5.
[17]Diggelen, F. van. Indoor GPS theory & implementation.[C] in Position Location and Navigation Symposium.2002, p.240-247.
[18]王玉振.张建军.尚延生.局域GPS技术应用于工业测量.[J]北京测绘,2006(3)：p.38-40.
[19]Zobrist. T. L.. Burge, J. H., Davison, W. B., Martin, H. M. Measurements of large optical surfaces with a laser tracker. Advanced Optical and Mechanical Technologies in Telescopes and Instrumentation,2008.7018:p. U183-U183.
[20]Laser tracker speeds aircraft assembly. Manufacturing Engineering,2002.129(5):p.39-+.
[21]Manfred Juretzko, Maria Hennes Monitoring of the spatiotemporal movement of an industrial robot using a laser tracker[J]. International Conference on Machine Control & Guidance 2008:1-6
[22]尚洋,李立春,雷志辉,于起峰.摄像测量技术在国防试验与航天器对接中的应用研究.[J]实验力学,2005(B12)：p.91-94.
[23]Kooyman, Tory. Verifying aircraft assembly with real-time digital photogrammetry. [J] Sensors (Peterborough, NH),2000.17(6):p.71-73.
[24]Shinji Umeyama. Least-squares estimation of transformation parameters between two point patterns[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence.1991, 13(4):376-380
[25]牛雪娟,刘景泰.基于奇异值分解的机器人工具坐标系标定[J].自动化与仪表,2008,3(专题研究)：1-4
[26]Zhiguang Zhong, Jianqiang Yi, Dongbin Zhao, Yiping Hong. Effective pose estimation from point pairs. Image and Vision Computing,2005.25:p.651-660.
[27]Shuster, MD. A surver of attitude representation. [J] J Astron Sci,1993.41 (4):p.439-518.
[28]马艳红胡军.姿态四元数相关问题[J].空间控制技术与应用：2008,34(3)：55-60
[29]黄真李艳文高峰.空间运动构件姿态的欧拉角表示[J].燕山大学学报：2002,26(3)：189-192
[30]Zhengyan, Wang, Jepson, A. A new closed-form solution for absolute orientationComputer Vision and Pattern Recognition,1994. Proceedings CVPR'94.,1994 IEEE Computer Society Conference on.1994, p.129-134.
[31]Arun KS, Huang TS, Blostein SD. Least-squares fitting of two 3-D point sets. [J] IEEE Trans Pattern Anal Machine Intell,1987.9:p.698-700.
[32]Horn, B.K.P.,1987. Closed-form solution of absolute orientation using unit quaternions[J]. J. Opt. Soc. Am. A 4 (4),629-642
[33]Horn, B.K.P.,1987. Closed-form solution of absolute orientation using orthonormal matrices[J]. J. Opt. Soc. Am. A 5 (7),1127-1135
[34]Walker, M.W., Shao, L., Volz, R.A.,1991. Estimating 3-D location parameters using dual number quaternions[J]. CVGIP:Image Understanding 54 (3),358-367
[35]Hill, A., Hill, A., Cootes, T. F., Taylor, C. J. Least-squares solution of absolute orientation with non-scalar weights.[C] in Pattern Recognition,1996., Proceedings of the 13th International Conference on.1996, p.461-465 vol.1.
[36]A. Lorusso, D.W. Eggert, R. B. Fisher. Estimating 3-d rigid body transformations:a comparison of four major algorithm[J]. Machine Vision and Applications,1997,9:272-290
[37]Or, S. H., Luk, W. S., Wong, K. H., King, I. An efficient iterative pose estimation algorithm. Image and Vision Computing,1998.16(5):p.353-362.
[38]J.Michael. Fitzpatrick., J, B. West.and Calvin R.Maurer. Predicting Error in Rigid-Body Point-Based Registration.[c]Ieee Transactions on medical imaging,1998.17(5):p.694-702.
[39]Predmore, C. Read. Bundle adjustment of multi-position measurements using the Mahalanobis distance. [J] Precision Engineering,2010.34(1):p.113-123.
[40]LEECA laser tracker hardware guide. Switzerland:LEICA Geosystems AG Metrology Division,2005.
[41]Fitzgibbon, Andrew W. Robust registration of 2D and 3D point sets. Image and Vision Computing,2003.21(13-14):p.1145-1153.
[42]Tim Clarke, Richard Gooch. Real-time 3D metrology for aerospace manufacture. Sensor Review Volume[J],1999,19(3):113-115
[43]Jianfei, Ouyang, Zhiyong, Liang, Haixin, Zhang, Yonggang, Yan. Research of measuring accuracy of laser tracker system.[C] in Proceedings of the SPIE-The International Society for Optical Engineering.2006, p.62800T-1-6.
[44]Duda RO, Hart RE, Stork DG. Pattern classification. Second Edition New York:John Wiley & Sons Inc.; 2001.
[45]Bevington PR, Robinson DK. Data reduction and error analysis for the physical sciences. Second Edition New York:McGraw-Hill Inc.; 1992. p.59.
[46]Mikhail EM, Ackermann F. Observations and least squares. New York:Harper & Row; 1976. p.170.
[47]MATLAB is a technical software program from Math Works Inc. (http://www.MathWorks.com).
[48]李广云.LTD500激光跟踪测量系统原理及应用[J].测绘工程,2001,12(4)：3-8.
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[2]刘善国.先进飞机装配技术及其发展[J].航空制造技术,2006,(6)：38-41
[3]梁雪梅,王永栓王晓丽向颖.航空工业数字化协同现状与发展.[J]航空制造技术,2009(11)：p.62-65.
[4]Aronson, R. B. A new look at aircraft assembly. [J] Manufacturing Engineering,2004. 132(3):p.101-+.
[5]John Hartmann. Automated wing panel assembly for the A340-600[J]. Society of Automotive Engineers,2000,7(1):44-47
[6]Weber A. Aerospace prepares to soar again[J]. Assembly Magazine,2003,46(6):58
[7]任晓华.洛克希德·马丁公司的F-22战斗机装配生产线.[J]航空制造技术,2006(8)：p.36-38.
[8]于勇,陶剑,范玉青.波音787飞机装配技术及其装配过.[J]航空制造技术,2009(14)：p.44-46.
[9]杨振,贺磊.利用激光跟踪仪建立高精度微型测边网.[J]红外与激光工程,2008(S1)：p.22-24.
[10]周锦坤,马灯英,梁武根.飞机工装、零部件数控测量技术的发展及激光跟踪仪的应用.中国计量[J],2003,9：65-67
[11]黄涛.激光跟踪测量系统的原理及在飞机型架测量中的应用[J].航空与航天,2005,(1)：27-29,26
[12]秦政琪,王巍,邹爱丽,曲文成.计算机辅助电子经纬仪测量系统在飞机制造中的应用.[J]沈阳航空工业学院学报,2003(2)：p.9-10
[13]Estler, W. T., Edmundson, K. L., Peggs, G. N., Parker, D. H. Large-Scale Metrology-An Update. [J] CIRP Annals-Manufacturing Technology,2002.51(2):p.587-609.
[14]贾永红.基于激光雷达测量技术的矿用汽车在线自动计量系统.[J]矿业研究与开发,2006(2)：p.62-63,80.
[15]杨洋.激光雷达在大气测量中的应用.[J]现代物理知识,2001(3)：p.31-32..
[16]张国雄,吴晓峰.室内GPS测量系统及其在飞机装配中的应用.[J]航空精密制造技术,2006.42(5)：p.1-5.
[17]Diggelen, F. van. Indoor GPS theory & implementation.[C] in Position Location and Navigation Symposium.2002, p.240-247.
[18]王玉振.张建军.尚延生.局域GPS技术应用于工业测量.[J]北京测绘,2006(3)：p.38-40.
[19]Zobrist. T. L.. Burge, J. H., Davison, W. B., Martin, H. M. Measurements of large optical surfaces with a laser tracker. Advanced Optical and Mechanical Technologies in Telescopes and Instrumentation,2008.7018:p. U183-U183.
[20]Laser tracker speeds aircraft assembly. Manufacturing Engineering,2002.129(5):p.39-+.
[21]Manfred Juretzko, Maria Hennes Monitoring of the spatiotemporal movement of an industrial robot using a laser tracker[J]. International Conference on Machine Control & Guidance 2008:1-6
[22]尚洋,李立春,雷志辉,于起峰.摄像测量技术在国防试验与航天器对接中的应用研究.[J]实验力学,2005(B12)：p.91-94.
[23]Kooyman, Tory. Verifying aircraft assembly with real-time digital photogrammetry. [J] Sensors (Peterborough, NH),2000.17(6):p.71-73.
[24]Shinji Umeyama. Least-squares estimation of transformation parameters between two point patterns[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence.1991, 13(4):376-380
[25]牛雪娟,刘景泰.基于奇异值分解的机器人工具坐标系标定[J].自动化与仪表,2008,3(专题研究)：1-4
[26]Zhiguang Zhong, Jianqiang Yi, Dongbin Zhao, Yiping Hong. Effective pose estimation from point pairs. Image and Vision Computing,2005.25:p.651-660.
[27]Shuster, MD. A surver of attitude representation. [J] J Astron Sci,1993.41 (4):p.439-518.
[28]马艳红胡军.姿态四元数相关问题[J].空间控制技术与应用：2008,34(3)：55-60
[29]黄真李艳文高峰.空间运动构件姿态的欧拉角表示[J].燕山大学学报：2002,26(3)：189-192
[30]Zhengyan, Wang, Jepson, A. A new closed-form solution for absolute orientationComputer Vision and Pattern Recognition,1994. Proceedings CVPR'94.,1994 IEEE Computer Society Conference on.1994, p.129-134.
[31]Arun KS, Huang TS, Blostein SD. Least-squares fitting of two 3-D point sets. [J] IEEE Trans Pattern Anal Machine Intell,1987.9:p.698-700.
[32]Horn, B.K.P.,1987. Closed-form solution of absolute orientation using unit quaternions[J]. J. Opt. Soc. Am. A 4 (4),629-642
[33]Horn, B.K.P.,1987. Closed-form solution of absolute orientation using orthonormal matrices[J]. J. Opt. Soc. Am. A 5 (7),1127-1135
[34]Walker, M.W., Shao, L., Volz, R.A.,1991. Estimating 3-D location parameters using dual number quaternions[J]. CVGIP:Image Understanding 54 (3),358-367
[35]Hill, A., Hill, A., Cootes, T. F., Taylor, C. J. Least-squares solution of absolute orientation with non-scalar weights.[C] in Pattern Recognition,1996., Proceedings of the 13th International Conference on.1996, p.461-465 vol.1.
[36]A. Lorusso, D.W. Eggert, R. B. Fisher. Estimating 3-d rigid body transformations:a comparison of four major algorithm[J]. Machine Vision and Applications,1997,9:272-290
[37]Or, S. H., Luk, W. S., Wong, K. H., King, I. An efficient iterative pose estimation algorithm. Image and Vision Computing,1998.16(5):p.353-362.
[38]J.Michael. Fitzpatrick., J, B. West.and Calvin R.Maurer. Predicting Error in Rigid-Body Point-Based Registration.[c]Ieee Transactions on medical imaging,1998.17(5):p.694-702.
[39]Predmore, C. Read. Bundle adjustment of multi-position measurements using the Mahalanobis distance. [J] Precision Engineering,2010.34(1):p.113-123.
[40]LEECA laser tracker hardware guide. Switzerland:LEICA Geosystems AG Metrology Division,2005.
[41]Fitzgibbon, Andrew W. Robust registration of 2D and 3D point sets. Image and Vision Computing,2003.21(13-14):p.1145-1153.
[42]Tim Clarke, Richard Gooch. Real-time 3D metrology for aerospace manufacture. Sensor Review Volume[J],1999,19(3):113-115
[43]Jianfei, Ouyang, Zhiyong, Liang, Haixin, Zhang, Yonggang, Yan. Research of measuring accuracy of laser tracker system.[C] in Proceedings of the SPIE-The International Society for Optical Engineering.2006, p.62800T-1-6.
[44]Duda RO, Hart RE, Stork DG. Pattern classification. Second Edition New York:John Wiley & Sons Inc.; 2001.
[45]Bevington PR, Robinson DK. Data reduction and error analysis for the physical sciences. Second Edition New York:McGraw-Hill Inc.; 1992. p.59.
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