基于后方交会的室内空间测量定位系统定向方法

Orientation Method for Workspace Measuring and Positioning System Based on Resection

为了实现室内空间测量定位系统(w MPS)发射站定向参数的快速、精确校准,提高其方法的适应性,研究了一种新的发射站定向方法.本方法借鉴工程测量中的后方交会原理,在w MPS发射站数学模型基础上,引入坐标控制场建立冗余光平面约束,得出参数优化函数.通过拉格朗日乘子法求取定向参数初值,进行优化解算.本方法可以实现发射站的自动定向.搭建了实验平台并以激光跟踪仪测量结果作为比对基准,验证了校准方法的准确性.由本方法完成定向的w MPS测量点位误差优于±0.3 mm,且满足大尺寸坐标测量的精度要求.

To rapidly and precisely calibrate the orientation parameters of transmitter in workspace measuring and positioning system（ wMPS）,a new calibration method is proposed which is more adaptable in application. Referring to the principle of resection from engineering measurement,the method provides the light-plane constraints and sets up the adjusted equations by introducing coordinate control field on the basis of mathematical model of wMPS transmitter. Initial values are calculated by the Lagrangian multiplier method and the final results are solved. This method can realize the automatic orientation of wMPS transmitter. To verify the feasibility of this method,an experiment platform was set up,and the laser tracker was taken as reference to be compared. The wMPS calibrated by this method has an error of point position better than ± 0. 3 mm,satisfying the precision requirement of large scale coordinate measurement.