基于视觉与激光准直的激光跟踪姿态角测量方法

Laser tracking attitude angle measurement method based on vision and laser collimation

针对大型装备建造、航空航天、汽车等领域对姿态测量技术的需求,提出一种以激光跟踪设备为基站,视觉测量与激光准直技术相结合的姿态测量方法。首先对测量模型中涉及的坐标系进行了定义,其次建立了激光跟踪设备坐标系与视觉坐标系之间的转换关系,通过视觉测量中纵向投影比不变的约束实现横滚角的测量,在上述基础上,基于光束向量唯一性约束和激光准直传感原理实现方位角和俯仰角的测量。最后在实验室环境下搭建了姿态测量验证实验平台,将靶标装载在三自由度摇摆台上,利用六轴绝对关节臂姿态角测量值作为基准进行比对,实验证明,在测量距离为2.5 m处,姿态角测量范围为-20°~20°时,姿态角测量误差绝对值可控制在2°内。

Aiming at the requirement of attitude measurement technology in the fields of large-scale equipment construction, aerospace, automobile and so on, proposes a attitude measurement method, which takes laser tracking equipment as base station and combines vision measurement with laser alignment technology. Firstly, the coordinate system involved in the measurement model is defined. Secondly, the conversion relationship between the laser tracking coordinate system and the visual coordinate system is established. The roll angle is measured with the constraint of the constant longitudinal projection ratio in the visual measurement. On the basis of the above, the azimuth angle and the pitch angle are measured based on the beam vector uniqueness constraint and the laser collimation sensing principle. Finally, the experiment platform of attitude measurement verification was built in the laboratory environment. The target was loaded on the three degree of freedom swing platform, and the six axis absolute joint arm attitude angle measurement value was used as the benchmark for comparison. Experiments show that the absolute value of attitude angle measurement error can be controlled within 2° when the measurement distance is 2.5 m and the measurement range of attitude angle is-20°~20°.