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Light pen whole space coordinate measuring system based on a tracking turntable
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作者 WANG Sen LIU Shugui MAO Qing 《Journal of Measurement Science and Instrumentation》 CAS CSCD 2021年第4期379-389,共11页
Light pen coordinate measuring system(LPCMS)is a kind of portable coordinate measuring technique based on vision metrology.In classical LPCMS,the measuring range is limited to the camera’s field of view.To overcome t... Light pen coordinate measuring system(LPCMS)is a kind of portable coordinate measuring technique based on vision metrology.In classical LPCMS,the measuring range is limited to the camera’s field of view.To overcome this defect,a new LPCMS is designed in this paper to fulfil whole space coordinate measurement.The camera is installed on a turntable instead of a tripod,so that the camera can rotate to track the movement of the light pen.The new system can be applied to large scale onsite measurement,and therefore it notably extends the application of LPCMS.To guarantee the accuracy of the new system,a method to calibrate the parameters of the tracking turntable is also proposed.Fixing the light pen at a stationary position,and changing the azimuth angles of the turntable’s two shafts,so that the camera can capture the images of the light pen from different view angles.According to the invariant spatial relationship between the camera and the pedestal of the tracking turntable,a system of nonlinear equations can be established to solve the parameters of the turntable.Experimental results show that the whole space coordinate measuring accuracy of the new system can reach 0.25 mm within 10 m.It can be concluded that the newly designed system can significantly expand the measuring range of LPCMS without losing too much accuracy. 展开更多
关键词 light pen whole space coordinate measuring system tracking turntable vision metrology parameter calibration homogeneous coordinate transformation matrix
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Coordinated target localization base on pseudo measurement for clustered space robot 被引量:5
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作者 Zhai Guang Zhang Jingrui Zhou Zhicheng 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2013年第6期1524-1533,共10页
This paper presents a coordinated target localization method for clustered space robot.According to the different measuring capabilities of cluster members,the master-slave coordinated relative navigation strategy for... This paper presents a coordinated target localization method for clustered space robot.According to the different measuring capabilities of cluster members,the master-slave coordinated relative navigation strategy for target localization with respect to slavery space robots is proposed;then the basic mathematical models,including coordinated relative measurement model and cluster centralized dynamics,are established respectively.By employing the linear Kalman flter theorem,the centralized estimator based on truth measurements is developed and analyzed frstly,and with an intention to inhabit the initial uncertainties related to target localization,the globally stabilized estimator is designed through introduction of pseudo measurements.Furthermore,the observability and controllability of stochastic system are also analyzed to qualitatively evaluate the convergence performance of pseudo measurement estimator.Finally,on-orbit target approaching scenario is simulated by using semi-physical simulation system,which is used to verify the convergence performance of proposed estimator.During the simulation,both the known and unknown maneuvering acceleration cases are considered to demonstrate the robustness of coordinated localization strategy. 展开更多
关键词 Clustered space robot coordinated target localization On-orbit servicing Pseudo measurements
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