基于激光位移传感器的3维位置测量算法研究

3-D position measurement algorithm based on laser displacement sensors

为了实现空间高微重力主动隔振系统反馈控制回路设计,采用6个激光位移传感器对隔振平台上3个正交的定位面的位移进行测量,实现对其3维位置和姿态的解算,并给出了推导过程,通过数值仿真,实验验证了有效性,同时对于解算过程中的误差来源与其对解算结果的影响进行了分析,给出了误差影响因素与解算误差之间的关系。结果表明,此3维位置和姿态的解算算法能够准确地解算出隔振平台的3维位置和姿态,且理论解算误差在30μm以内。此研究对基于位移测量的反馈控制回路设计有一定的实用价值和发展前景。

In order to realize the design of feedback control circuit of space micro gravity active vibration isolation system,6 laser displacement sensors were used to measure the displacements of 3 orthogonal positioning surfaces of vibration isolation platform. 3-D position and attitude were solved. And the derivation process was also given. The method was verified by numerical simulation and experimental test. The source of error and its influence on the result of calculation were analyzed. The relationship between error influence factors and calculation error was given. The results show that this algorithm can accurately calculate the 3-D position and attitude of a vibration isolation platform. The theoretical calculation error is less than 30μm. This research has some practical value and prospects for the design of feedback control loop based on displacement measurement.