基于刚体运动学的坐标系配准理论及算法

Theory and Algorithm of Coordinate System Registration Based on Rigid Body Kinematics

为避免公共点的误差及不一致性对坐标系转换精度的影响,研究了一种基于刚体运动理论的坐标系配准方法。将公共点组合成刚体,根据刚体上的点相互之间位置关系在两个坐标系下不变的特征,采用最小二乘法求解出最优变换矩阵。指出公共点空间布局方法对转换精度的影响,研究并实现了剔除超差公共点的算法。实验结果证明了该方法的正确性,为高精度测量的坐标系转换提供了理论依据。

To avoid the influence of common points＇ error and inconsistency on accuracy of coordinate transformation,a method of coordinate system registration based on theory of rigid body kinematics is studied.Taking the common points as a rigid body,optimal transform matrix is figured out by least square based on the feature that the positional relationships between the points in the body under two different coordinates are invariant.The effect of layout method of common points on transfer accuracy is pointed out,and algorithm of rejecting over-error points is studied and implemented.The experimental results demonstrate correctness of the method.It provides theoretical basis for coordinate transformation of high precision measurement.