面向组合光学跟踪测量的多位姿耦合中转标定

Multi-pose coupled transformation calibration for combined tracking-based optical measurement

全局定位跟踪与终端测量组合的测量系统,是大尺寸工件整体测量的有效解决方案。然而,组合测量系统中,终端测量坐标系到定位靶标坐标系的中转变换是影响全局测量精度的关键因素。针对现有的公共特征点进行中转位姿标定的方法存在的站位制约问题,提出了一种多位姿耦合中转标定求解方法。该方法弱化了全局测量系统与特征点位置摆放要求,利用中转位姿与多个靶标位姿耦合的形式构建方程组进行求解,在此基础上进一步提出了一种多位姿多点耦合中转标定法,将多个局部特征点同时与位姿进行耦合求解,以提高中转位姿解的稳定性,并减少中转标定误差。最后,通过设计中转标定实验和组合测量精度验证实验。比较两种方法得出,多位姿多点耦合中转标定方法的位姿求解结果更加稳定,平均测量误差减少10.13%,验证了该方法的稳定性与有效性。

Combining global positioning tracking with terminal measurement effectively addresses the overall measurement of large workpieces.The key to accuracy in this system is the transformation from the terminal to the target coordinate system.This paper introduces existing common feature points to calibrate the transit pose and addresses their station position constraints.To overcome these challenges,we propose a new multi-position coupled transit calibration method that eases global measurement system and feature point positioning requirements by using transit pose coupling with multiple targets to form equations for so⁃lutions.A multi-position coupled multi-point transit calibration method is also introduced to enhance pose solution stability and reduce calibration errors by coupling local feature points with the pose solution.Experiments comparing the methods demonstrate that the proposed multi-position and multi-point coupling transfer calibration method enhances stability and reduces the average measurement error by 10.13%,con⁃firming its effectiveness.