附有几何自约束的激光跟踪仪四元数光束法平差

Quaternion bundle adjustment of laser tracker with geometric self-constraint

为了提高激光跟踪仪多站测量数据处理方法的整体误差控制能力,研究数据内部存在的约束条件,基于四元数坐标转换原理,结合激光跟踪仪测量场景与数据特性,提出一种附有几何自约束的激光跟踪仪四元数光束法平差方法。将四元数坐标转换引入常规激光跟踪仪光束法平差中,替换传统涉及三角函数的坐标转换方法,并结合各测站观测同名点组间的距离不变这一数据内部的几何约束条件,建立几何自约束方程作为限制条件进行附有限制条件的间接平差解算。在实测数据上与传统激光跟踪仪数据处理方法进行坐标差值比对,结果表明,相比常规光束法平差平面精度提高28%,高程精度处于同一水平,整体点位精度优于0.050 mm,整体误差控制较好,能够在一定程度上控制测量空间范围内的误差分布,为准直测量等激光跟踪仪测量应用场景提供数据处理与误差控制方法参考。

In order to improve the overall error control ability of laser tracker multi-station measurement data processing method,and explore the constraints inside the data,based on quaternions coordinate transformation theory,combined with laser tracker measurement scene and its data characteristics,a laser tracker quaternions bundle adjustment with geometric self-constraint is proposed.The quaternions coordinate transformation is introduced into the normal laser tracker bundle adjustment,replacing the traditional coordinate transformation method involving trigonometric function,and combining with the geometric constraint condition that the distance between the same points group observed by each station is constant,the geometric self-constraint equation is established as the constraint condition to solve the indirect adjustment.The coordinate difference comparison between the measured data and the traditional laser tracker data processing method shows that the proposed method is superior to the traditional method in plane accuracy,and the planar accuracy is 28%better than that of the normal bundle method.The elevation accuracy is at the same level,the overall point accuracy is better than 0.050 mm,and the overall error control is good.The method can control the error distribution in the measurement space to a certain extent,and provide reference for data processing and error control methods in the measurement application scenarios of laser tracker such as alignment measurement.