CN101694370A - Method for evaluating precision of large-scale industrial photogrammetry system and benchmark device - Google Patents
Method for evaluating precision of large-scale industrial photogrammetry system and benchmark device Download PDFInfo
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- CN101694370A CN101694370A CN200910092676A CN200910092676A CN101694370A CN 101694370 A CN101694370 A CN 101694370A CN 200910092676 A CN200910092676 A CN 200910092676A CN 200910092676 A CN200910092676 A CN 200910092676A CN 101694370 A CN101694370 A CN 101694370A
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Abstract
The invention discloses a method for evaluating the precision of a large-scale industrial photogrammetry system and a benchmark device. The method comprises the following steps: obtaining first three-dimensional coordinate information of a reflection target spot from the benchmark device by using a laser tracker, wherein the first three-dimensional coordinate information forms a space benchmark field; obtaining second three-dimensional coordinate information of the reflection target spot from the benchmark device by using the photogrammetry system, wherein the second three-dimensional coordinate information forms a space measurement field; and obtaining a space error field by the space benchmark field and the space measurement field. The method for evaluating the precision of a large-scale industrial photogrammetry system and the benchmark device obtain the space error field by the space benchmark field and the space measurement field, and analyze the error sources in the photogrammetry system by the space error field and further enhance the measurement precision of the photogrammetry system in large-scale industrial photogrammetry.
Description
Technical field
The present invention relates to photogrammetric technology, the precision evaluation method and the standard apparatus of especially a kind of large scale industrial photogrammetry system.
Background technology
Along with developing rapidly of modern industry, need carry out accurate three-dimensional measurement to large-sized object, because the measurement range of large-sized object is big, accuracy requirement is high, on-the-spot kinetic measurement, cause measuring technique to satisfy, therefore produced the field digital photogrammetric technology based on three coordinate measuring machine (CMM).
The domestic and international at present research about digital photogrammetry mainly concentrates on some gordian techniquies, comprising: the on-the-spot self-calibration technology and the calculation method of the inside and outside direction parameter of video camera; The accuracy assessment technology and the method for Measurement Network; Realize the image matching technology of systematic survey robotization etc.Wherein, the research of digital photogrammetry accuracy assessment comprises following two aspects: (1) carries out independent analysis with the error component in the photogrammetric link, respectively to the influence of photogrammetric accuracy, do not set up perfect photogrammetric spatial error model as factors such as camera calibration, erect-position angle, measuring point centralized positionings as yet; (2) adopt the fixed length scale in the photogrammetric on-the-spot measuring accuracy that detects assessment system.Because digital Photogrammetric System is complicated and have can be flexible, the digital Photogrammetric System of especially on-the-spot large-scale metrology is because multiple factor affecting such as camera subject performance, measured object, Measurement Network layout, Survey Software performances, cause the source of error complexity, various error components are interrelated, and the different directly influences in the size of fixed length scale and the position of being placed are to the evaluation result of photogrammetric accuracy.Because prior art can't effectively solve the precision evaluation problem in the digital Photogrammetric System, therefore can't improve the measuring accuracy of Digital Photogrammetric System in the large scale industrial photogrammetry by the source of error in the analytical photography measuring system, thereby restrict the application of photogrammetric technology in the large scale commercial measurement.
Summary of the invention
The object of the present invention is to provide the precision evaluation method and the standard apparatus of a kind of large scale industrial photogrammetry system, by the source of error in the space error field analysis Digital Photogrammetric System, further improve the measuring accuracy of Digital Photogrammetric System in the large scale industrial photogrammetry.
The invention provides the precision evaluation method of a kind of large scale industrial photogrammetry system, comprising:
Adopt position tracker to get access to first three-dimensional coordinate information of reflection target spot from standard apparatus, described first three-dimensional coordinate information forms the space reference field;
Adopt Digital Photogrammetric System to get access to the second three dimensional space coordinate information of reflection target spot from described standard apparatus, the described second three dimensional space coordinate information forms the space measurement field;
Obtain the space error field that is used to estimate described Digital Photogrammetric System precision by described space reference field and described space measurement field.
The present invention also provides a kind of standard apparatus, can realize the precision evaluation method of the large scale industrial photogrammetry system in the technique scheme, comprising: framework and many measuring staffs that are fixed on the described framework; Described framework and measuring staff are provided with a plurality of reflection target spots and are used to obtain the position tracker of first three-dimensional coordinate information of described reflection target spot.
The precision evaluation method and the standard apparatus of large scale industrial photogrammetry provided by the invention system, the benchmark of the space error field that gets access to as Digital Photogrammetric System by space reference field that high-precision position tracker is got access to, get access to the space error field according to space reference field and space measurement field, by the source of error in the space error field analysis Digital Photogrammetric System, further improve the measuring accuracy of Digital Photogrammetric System in the large scale industrial photogrammetry.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the schematic flow sheet of an embodiment of precision evaluation method of large scale industrial photogrammetry of the present invention system;
Fig. 2 is the schematic flow sheet of another embodiment of precision evaluation method of large scale industrial photogrammetry of the present invention system;
Fig. 3 is the space synoptic diagram of middle Digital Photogrammetric System embodiment illustrated in fig. 2;
Fig. 4 is the structural representation of an embodiment of standard apparatus of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that is obtained under the creative work prerequisite.
In large scale industrial photogrammetry process, the error component that influences on-the-spot large scale industrial photogrammetry is various, the regularity of distribution is complicated, comprises error component, the in-site measurement scheme of Digital Photogrammetric System self and measures the error component etc. of error component, environment and the illumination of layout.
Fig. 1 is the schematic flow sheet of an embodiment of precision evaluation method of large scale industrial photogrammetry of the present invention system, and as shown in Figure 1, the embodiment of the invention comprises the steps:
Position tracker in the embodiment of the invention is the surveying instrument with high measurement accuracy, be specifically as follows laser tracker, laser tracker only is an example of the embodiment of the invention, do not constitute restriction, be the described position tracker of the embodiment of the invention as long as can get access to the tracker of the three dimensional space coordinate information of high measurement accuracy according to the reflection target spot in the standard apparatus to the embodiment of the invention.
The precision evaluation method of the large scale industrial photogrammetry system that the embodiment of the invention provides, the benchmark of the space error field that gets access to as Digital Photogrammetric System by space reference field that high-precision position tracker is got access to, get access to the space error field by space reference field and space measurement field, by the source of error in the space error field analysis Digital Photogrammetric System, further improve the measuring accuracy of Digital Photogrammetric System in the large scale industrial photogrammetry.
Fig. 2 is the schematic flow sheet of another embodiment of precision evaluation method of large scale industrial photogrammetry of the present invention system, and Fig. 3 be the space synoptic diagram of middle Digital Photogrammetric System embodiment illustrated in fig. 2; As shown in Figure 2, the embodiment of the invention comprises the steps:
The target ball of step 201, laser tracker obtains first three-dimensional coordinate information of a plurality of reflection target spots under first world's coordinate system at laser tracker place that is arranged on the standard apparatus, and wherein, first three-dimensional coordinate information forms the space reference field;
Image acquisition device in step 202, the Digital Photogrammetric System obtains second three-dimensional coordinate information of a plurality of reflection target spots under the second world coordinate system at this Digital Photogrammetric System place that is arranged on the standard apparatus, wherein, the second three dimensional space coordinate information forms the space measurement field;
In above-mentioned steps 201, first world's coordinate of establishing the laser tracker place is (X
1, Y
1, Z
1), the target ball of laser tracker is used to follow the tracks of the three-dimensional coordinate that each reflects the center of target spot, because laser tracker self has defined a world coordinate system, the world coordinate system called after first world coordinate system that the embodiment of the invention only defines laser tracker self for convenience of description, suppose to be provided with altogether on the standard apparatus the individual reflection target spot of n (n is a positive integer), then the center of n reflection target spot is (x in first world's coordinate system
1, y
1, z
1) ..., (x
n, y
n, z
n), then this n three-dimensional coordinate forms first three-dimensional coordinate information of reflection target spot under first world's coordinate system, and this first three-dimensional coordinate information has promptly formed the space reference field.
In the above-mentioned steps 202, the second world coordinate of establishing the Digital Photogrammetric System place is (X
2, Y
2, Z
2), image acquisition device in the Digital Photogrammetric System is used to obtain the three-dimensional coordinate position that each reflects the center of target spot, owing in Digital Photogrammetric System, defined a world coordinate system, the embodiment of the invention is only for convenience of description with the world coordinate system called after second world coordinate system that defines in the Digital Photogrammetric System, corresponding with above-mentioned steps 201, the n that is provided with on the standard apparatus the reflection target spot the center in second world coordinate system for (x '
1, y '
1, z '
1) ..., (x '
n, y '
n, z '
n), then this n three-dimensional coordinate forms second three-dimensional coordinate information of reflection target spot under second world coordinate system, and this second three-dimensional coordinate information has promptly formed the space measurement field.
In the above-mentioned steps 203,, therefore need reflect first the three-dimensional coordinate information ((x that target spot obtain respectively under first world's coordinate system with n because the second world coordinate system at first world's coordinate system at laser tracker place and Digital Photogrammetric System place is inequality
1, y
1, z
1) ..., (x
n, y
n, z
n)) and second world coordinate system under obtain second three-dimensional coordinate information ((x '
1, y '
1, z '
1) ..., (x '
n, y '
n, z '
n)) unified under same world coordinate system; Particularly, be convenience of calculation, first three-dimensional coordinate information under first world's coordinate system can be transformed under the second world coordinate system by world coordinate system; Certainly, also second three-dimensional coordinate information under the second world coordinate system can be transformed into first world's coordinate system by world coordinate system; The embodiment of the invention is that example describes to be transformed under the second world coordinate system by world coordinate system the first three dimensional space coordinate information under first world's coordinate system, the first three dimensional space coordinate information under first world's coordinate system is by after the world coordinate system conversion, the three three dimensional space coordinate information of the first three dimensional space coordinate information that obtains under second world coordinate system for (x "
1, y "
1, z "
1) ..., (x "
n, y "
n, z "
n).Because those of ordinary skills can be unified under same world coordinate system with the three-dimensional coordinate under the different world coordinate systems according to the world coordinate system conversion method, therefore here repeats no more.
In the above-mentioned steps 204, after above-mentioned steps 203, because second three-dimensional coordinate information ((x '
1, y '
1, z '
1) ..., (x '
n, y '
n, z '
n)) with the 3rd three dimensional space coordinate information be (x "
1, y "
1, z "
1) ..., (x "
n, y "
n, z "
n) be unified under the same world coordinate system, therefore by this second three-dimensional coordinate information ((x '
1, y '
1, z '
1) ..., (x '
n, y '
n, z '
n)) and the 3rd three dimensional space coordinate information (x "
1, y "
1, z "
1) can get access to the space error field.
In the above-mentioned steps 205, set up the space error field model, according to the space error field model Digital Photogrammetric System is carried out error compensation then by the space error field that gets access in the step 204.Particularly, as shown in Figure 3, in a Digital Photogrammetric System, there are two symmetrical shooting station S1, shooting station S2, and shooting station S1 and shooting station S2 hand over to shooting the large scale measured object, set up second world coordinate system by photogrammetric coordinate system S1-XYZ, then the initial point of second world coordinate system is S1, and S1O1 and S2O2 are respectively shooting station S1 with the optical axis of shooting station S2 and in planar S 1-XZ, and two optical axis included angles of shooting station S1 and shooting station S2 are 2 α, are b as the base length between station S1 and the shooting station S2.With the space measurement point that in second world coordinate system, forms of reflection target spot (x '
1, y '
1, z '
1) for example describes, this reflection target spot is (x by the space reference coordinate that laser tracker forms under first world's coordinate system
1, y
1, z
1), with this space reference coordinate (x
1, y
1, z
1) coordinate figure that under second world coordinate system, forms by world coordinate system conversion back for (x "
1, y "
1, z "
1), because the measuring accuracy of laser tracker is very high, therefore reflect target spot coordinate figure (x "
1, y "
1, z "
1) precision also very high, in Digital Photogrammetric System because the space measurement point (x '
1, y '
1, z '
1) be that transformation relation by second world coordinate system and picpointed coordinate system acquires, promptly this space measurement point (x '
1, y '
1, z '
1) be to obtain after picture point p1, picture point p2 the conversion that obtains behind the photographic images respectively by shooting station S1 and shooting station S2 by second world coordinate system and picpointed coordinate system, because those skilled in the art can carry out the mutual conversion of world coordinate system and picpointed coordinate system, do not repeat them here.Correspondingly, the space reference coordinate (x that gets access to of laser tracker
1, y
1, z
1) under second world coordinate system coordinate figure (x "
1, y "
1, z "
1) in the captured image of shooting station S1 and shooting station S2, also can there be benchmark picture point p01 and benchmark picture point p02 according to second world coordinate system and the variation that picpointed coordinate is, and because laser tracker has higher measuring accuracy, with benchmark picture point p01 and benchmark picture point p02 as the space measurement point (x '
1, y '
1, z '
1) reference coordinate on the image planes of shooting station S1 and shooting station S2, promptly by benchmark picture point p01 can obtain the making a video recording image planes error (Δ x1, Δ y1) of station S1, by benchmark picture point p02 obtain the making a video recording image planes error (Δ x2, Δ y2) of station S2, lubber line error Δ b and video camera angle error Δ α are the measuring error that exists in photogrammetric process, then the space measurement point (x '
1, y '
1, z '
1) measuring error can determine by above-mentioned image planes error (Δ x1, Δ y1), image planes error (Δ x2, Δ y2), lubber line error Δ b, video camera angle error Δ α, and can determine following parameter according to above-mentioned image planes error (Δ x1, Δ y1), (Δ x2, Δ y2), lubber line error Δ b, video camera angle error Δ α:
、
、
、
、
,
Further can determine following parameter by above-mentioned parameter:
Because above-mentioned only is a formed space measurement error of reflection target spot, then when space measurement point was n reflection target spot, then the space error field model in the embodiment of the invention was
Further, by this space error field model can the analytical photography measuring system error component, the error profile rule, particularly, analyze image planes error (Δ x1, Δ y1), image planes error (Δ x2, Δ y2), lubber line error Δ b, video camera angle error Δ α is to the influence of space error field model, because image planes error (Δ x1, Δ y1), image planes error (Δ x2, Δ y2) with environment and throw light on relevant, lubber line error Δ b, video camera angle error Δ α is relevant with the in-site measurement scheme and the measurement layout of Digital Photogrammetric System, therefore by improving the illumination condition of measure field, and the in-site measurement scheme of Digital Photogrammetric System and measurement layout, Digital Photogrammetric System is carried out error compensation, further improve the measuring accuracy in large scale is photogrammetric in Digital Photogrammetric System.
Space error field model in the embodiment of the invention
It only is an example of the embodiment of the invention, this kind space error field model does not constitute the restriction to the embodiment of the invention, as long as the error field by the space error field in the embodiment of the invention is carried out error evaluation and further carried out error correction by the space error field model Digital Photogrammetric System is the described technical scheme of the embodiment of the invention.
The precision evaluation method of the large scale industrial photogrammetry system that the embodiment of the invention provides, the benchmark of the space error field that gets access to as Digital Photogrammetric System by space reference field that high-precision position tracker is got access to, get access to the space error field by space reference field and space measurement field, and Digital Photogrammetric System is carried out error correction, thereby improved the measuring accuracy of Digital Photogrammetric System according to the space error field.
Fig. 4 is the structural representation of an embodiment of standard apparatus of the present invention, as shown in Figure 4, the embodiment of the invention can realize above-mentioned Fig. 1 or method flow embodiment illustrated in fig. 2, specifically comprise: framework 41 and the many measuring staffs 42 that are fixed on the framework 41, wherein, framework 41 and measuring staff 42 are provided with a plurality of reflection target spots 43 and the position tracker 44 that is used to obtain first three-dimensional coordinate information that reflects target spot.
The standard apparatus that the embodiment of the invention provides, by being set, position tracker 44 gets access to high-precision space reference field, and the benchmark of the space measurement field that the space reference field is got access to as Digital Photogrammetric System, get access to the space error field by space reference field and space measurement field, according to the source of error in the space error field analysis Digital Photogrammetric System, thereby improve the measuring accuracy of Digital Photogrammetric System in the large scale industrial photogrammetry.
Further, on above-mentioned basis embodiment illustrated in fig. 4, the reflection target spot comprises the second reflection target spot 432 of the end that is arranged on the reflection of first on the framework 41 target spot 431 and is arranged on measuring staff 42.
Further, a plurality of measuring staffs comprise: have first length first measuring staff, have second measuring staff of second length, the 3rd measuring staff with the 3rd length, wherein, first measuring staff, second measuring staff, the 3rd measuring staff make the second reflection target spot 432 form space reference field and the space measurement field with depth information.
In order to process the convenience of the embodiment of the invention, preferably, the length of first measuring staff is 50 centimetres, and the length of second measuring staff is 100 centimetres, and the length of the 3rd measuring staff is 150 centimetres.
In order to realize large-sized in-site measurement, preferably, first length of framework 41 can be 4 meters, and second length can be 2.5 meters.
Further, position tracker is specifically as follows the target ball of laser tracker, and wherein, the target ball is arranged on the end of many measuring staffs by axle sleeve.
Utilize the detailed process of the error field model that obtains Digital Photogrammetric System embodiment illustrated in fig. 4 as follows: at first, laser tracker gets access to the volume coordinate information of the reflection target spot on the standard apparatus by the target ball that is arranged on the measuring staff end, forms the space reference field; Then, the image acquisition device in the Digital Photogrammetric System gets access to the volume coordinate information of the reflection target spot on the standard apparatus, forms the space measurement field; Because the world coordinate system at laser tracker place and the world coordinate system at Digital Photogrammetric System place are inequality, therefore the space reference field that laser tracker is got access to converts under the world coordinate system at Digital Photogrammetric System place by world coordinate system, space reference field and space measurement field are unified under the same world coordinate system, then, the parameter and the space error field distribution of obtaining the space error field model according to space reference field and space measurement field, by analyzing in photogrammetric process the error source that produces error and the character of error source all sidedly, the regularity of distribution, determine that error source is to the effect of space error field and the error source transitive relation to space error, thereby set up comparatively perfect space error field model, by the space error field model being carried out Computer Simulation and a large amount of experimental verifications, digital Photogrammetric System is carried out error compensation, thereby improve the measuring accuracy of on-the-spot large scale digital photogrammetry effectively.
It should be noted that at last: above embodiment only in order to technical scheme of the present invention to be described, is not intended to limit; Although with reference to previous embodiment the present invention is had been described in detail, those of ordinary skill in the art is to be understood that: it still can be made amendment to the technical scheme that aforementioned each embodiment put down in writing, and perhaps part technical characterictic wherein is equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution break away from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (10)
1. the precision evaluation method of a large scale industrial photogrammetry system is characterized in that, comprising:
Adopt position tracker to obtain first three-dimensional coordinate information of a plurality of reflection target spots from standard apparatus, described first three-dimensional coordinate information forms the space reference field;
Adopt Digital Photogrammetric System to obtain the second three dimensional space coordinate information of a plurality of reflection target spots from described standard apparatus, the described second three dimensional space coordinate information forms the space measurement field;
Obtain the space error field that is used to estimate described Digital Photogrammetric System precision by described space reference field and described space measurement field.
2. method according to claim 1 is characterized in that, described position tracker is the target ball of laser tracker, and then described employing position tracker obtains a plurality of reflection target spots from standard apparatus first three-dimensional coordinate information comprises:
The target ball of described laser tracker obtains first three-dimensional coordinate information of a plurality of reflection target spots under first world's coordinate system at described laser tracker place that is arranged on the standard apparatus.
3. method according to claim 2 is characterized in that, described employing Digital Photogrammetric System is obtained a plurality of reflection target spots from described standard apparatus the second three dimensional space coordinate information comprises:
Image acquisition device in the described Digital Photogrammetric System obtains second three-dimensional coordinate information of a plurality of reflection target spots under the second world coordinate system at described Digital Photogrammetric System place that is arranged on the described standard apparatus.
4. method according to claim 3 is characterized in that, describedly obtains the space error field that is used to estimate described Digital Photogrammetric System precision by described space reference field and described space measurement field and comprises:
Described space measurement field under described space reference field under the described first world coordinate system and the described second world coordinate system is transformed under the same world coordinate system;
Under this same world coordinate system, get access to the space error field that is used to estimate described Digital Photogrammetric System precision by described space reference field and described space measurement field.
5. according to the arbitrary described method of claim 1～4, it is characterized in that described obtaining by described space reference field and described space measurement field also comprises after the space error field:
By described space error field described Digital Photogrammetric System is carried out error correction.
6. method according to claim 5 is characterized in that, describedly by described space error field described Digital Photogrammetric System is carried out error correction and comprises:
Determine the space error field model by described space error field;
According to described space error field model described Digital Photogrammetric System is carried out error compensation.
7. the standard apparatus that can realize the arbitrary described method of claim 1～6 is characterized in that, comprising: framework and many measuring staffs that are fixed on the described framework; Described framework and measuring staff are provided with a plurality of reflection target spots and are used to obtain the position tracker of first three-dimensional coordinate information of described reflection target spot.
8. device according to claim 7 is characterized in that, described reflection target spot comprises: the second reflection target spot that is arranged on the reflection of first on described framework target spot and the end that is arranged on described measuring staff.
9. device according to claim 7 is characterized in that, described many measuring staffs comprise:
Have first length first measuring staff, have second measuring staff of second length, the 3rd measuring staff with the 3rd length, described first measuring staff, second measuring staff, the 3rd measuring staff make the described second reflection target spot form space reference field and the space measurement field with depth information.
10. according to the arbitrary described device of claim 7～9, it is characterized in that described position tracker is the target ball of laser tracker, described target ball is arranged on the end of described many measuring staffs by axle sleeve.
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| CN108871204A (en) * | 2016-05-06 | 2018-11-23 | 北京信息科技大学 | The absolute evaluation method of photogrammetric middle linear measure longimetry relative error |
| CN108871204B (en) * | 2016-05-06 | 2020-04-21 | 北京信息科技大学 | Absolute evaluation method for length measurement relative error in photogrammetry |
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| CN106595472A (en) * | 2016-05-16 | 2017-04-26 | 北京卫星环境工程研究所 | Method for determining accuracy of photogrammetric system |
| CN106595472B (en) * | 2016-05-16 | 2019-02-19 | 北京卫星环境工程研究所 | The precision of Digital Photogrammetric System determines method |
| CN111435070A (en) * | 2019-01-14 | 2020-07-21 | 深圳中科飞测科技有限公司 | Conversion relation obtaining method, detection equipment and detection method |
| CN111267015A (en) * | 2019-08-27 | 2020-06-12 | 上海飞机制造有限公司 | Machining positioning method, device, equipment and storage medium |
| CN111267015B (en) * | 2019-08-27 | 2022-04-08 | 上海飞机制造有限公司 | Machining positioning method, device, equipment and storage medium |
| CN111627100A (en) * | 2020-04-09 | 2020-09-04 | 浙江大学 | Numerical simulation method for evaluating photogrammetry precision |
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