定位测姿系统室外三维动态检定场的几何设计

Geometric design of an outdoor threedimensional kinematic verification field for a position and orientation system

为检测多传感器组合定位测姿系统的整体精度水平,需建立定位测姿系统室外三维动态检定场,并完善多传感器组合系统的整体精度检定方法。该文提出了定位测姿系统动态检定的基本方法,设计了室外三维动态检定场的几何模型,分析了检定场几何模型的设计指标。使用中国自主研发的某型号高精度多传感器组合定位测姿系统在检定场进行了实际检测,并与检定场静态、动态标定结果进行了对比,结果表明:该系统检测结果与检定场设计参数一致,在使用经典方差和Allan方差等方法对测距、横向、垂向等误差进行统计分析后,能较为准确地反映出该定位测姿系统整体短期精度水平。该检定技术既可作为定位测姿系统整体精度检定的一种手段,还能为行业制定相关仪器检定规范提供方案。

A three-dimensional test field was developed to verify the accuracy of a multi-sensor integrated position and orientation system(POS)with an improved kinematic testing method.This paper describes the POS kinematic testing method conditions, the geometric model for the outdoor three-dimensional kinematic verification field,and the limitations of the field design.Static and kinematic calibration tests of a multi-sensor integrated POS in the field are consistent with the field design parameters.Statistical analyses of the distance,horizontal and vertical errors using the classical variance,Allan variance,and other methods show that the short-term precision of the multi-sensor integrated POS is acceptable.This verification method can not only verify the position and orientation precision of the POS,but can also be used to develop specifications to improve POS designs.