一种新型激光经纬仪自动跟踪引导方法

A new automatic tracking and guiding method of laser theodolite system

针对经纬仪在测量过程中需要人眼瞄准读数,不能自动跟踪并测量运动目标的问题,提出一种新型经纬仪自动跟踪引导方法。该方法采用高分辨率相机,捕获运动目标;采用基于卡尔曼滤波原理的跟踪程序预测目标运动航迹,驱动二维云台承载相机沿水平或俯仰方向旋转,从而实现相机视准轴对目标航迹的跟踪;再基于D-H模型构造相机坐标系和经纬仪坐标系之间的引导矩阵,从而引导经纬仪的望远镜指向相机视场范围,完成对目标的跟踪和测量过程。实验结果表明,该跟踪引导方法效率高,实用性强,在实现了经纬仪自动测量的同时,保证了测量的精度。

A new automatic tracing guiding approach for theodolites was proposed in this paper aiming at solving the shortcoming of current theodolites that manual aim taking and reading was required rather than automatic tracing and measuring moving object during measurement. In this proposal, a high resolution camera was adopted to capture the moving object, and a tracing program based on Kalman filtering was used to forecast the track of the moving object, and ddve the camera carded by a two-dimensional holder to rotate in horizontal or pitching direction, so as to the camera collimation axis to trace the track of the object. Meanwhile, the guiding matrix between the coordinate systems of the camera and the theodolite was created with the help of D-H model, with which the telescope of the theodolite was guided to point at the field of view of the camera and perform object tracing and measunng process. This experiment shows that the proposed guiding approach is highly efficient and practical, and measuring can be guaranteed, in addition to realizing the automatic measurement of theodolite.