摘要
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.
出处
《传感技术学报》
CAS
CSCD
北大核心
2010年第8期1088-1092,共5页
Chinese Journal of Sensors and Actuators
基金
国家自然科学基金项目资助(50735003)
天津市自然科学基金项目资助(09JCZDJC26900)
天津市科技支撑计划重点项目资助(08ZCGYGX11800)
关键词
坐标转换
配准理论
刚体运动学
最小二乘原理
coordinate transformation
registration theory
rigid body kinematics
least-square principle