高速公路巡检系统传感器空间位置标定

Calibration of Sensors on Expressway Vehicle Survey System(Vsurs-E)

采用由两台TM5100A电子经纬仪组成的工业测量系统(IMS)对平台传感器位置进行标定,实时获取测量点的三维坐标,对获取的坐标数据进行坐标转换等处理,进而得到各个扫描仪、惯导、GPS接收机等传感器在同一坐标系下的精确相对位置关系。结果表明,在小于5 m的小空间范围内,该工业测量系统的测量精度优于±0.1mm,完全满足标定精度要求。

In this paper, we use industrial measurement system （IMS） composed by two TM5100A electronic theodolites to calibrate sensors on the platform, and to access real-time 3D coordinates. Then we transform the coordi- nates to get the accurate relative position relationship of the scanner, inertial navigation and GPS receiver in the same coordinate system. Measurement results show that in the little space of less than 5 m, the accuracy of IMS is better than 0. 1 mm, which can fully meet the precision requirement of the calibration.