CN105157687B - A kind of position attitude measurement method of the dynamic object based on wMPS - Google Patents

Abstract

A method for measuring the position and attitude of dynamic objects based on wMPS. Firstly, a laser transmitting station is placed on the measurement test site, a laser receiver is installed on the surface of the object to be measured, and the laser transmitting station is rotated at a constant speed to send an optical pulse signal, and then through the internal crystal oscillator , The rotation period of each laser transmitting station obtains the rotation angle and time stamp of each laser receiver, and then calculates the position coordinates of each laser receiver, finally judges the position coordinates of the laser receiver and corrects them, and then completes the measurement of the position and attitude of dynamic objects . Compared with the prior art, the method of the present invention integrates the local timing information of the signal processor in the calculation results, and synchronizes the coordinate measurement results of multiple laser receivers to the same time, effectively reducing the laser receivers caused by the asynchronous coordinate measurement time. The measurement error of the position and attitude of the measured object is accurate, and the real-time high-precision large-scale pose measurement of the industrial site based on wMPS is realized.

Description

A method for measuring the position and attitude of dynamic objects based on wMPS

technical field

The invention relates to the field of dynamic object measurement, in particular to a method for measuring the position and posture of dynamic objects based on wMPS.

Background technique

Workspace Measurement and Positioning System (wMPS: workspace Measurement Positioning System) is a new type of multi-station network indoor space measurement and positioning developed for the position and attitude measurement requirements of aerospace, aviation, shipbuilding and other large-scale manufacturing industries and the characteristics of the global measurement control network. The system can realize high-precision automatic parallel measurement in the overall coordinate system of large-scale space. The workspace measurement and positioning system in the prior art (the workspace measurement and positioning system described in "Construction of the Scanning Plane Laser Space Positioning System Measurement Network") includes multiple laser emitting stations, multiple laser receivers (receivers) as shown in Figure 1 ), a signal processor and a computing workstation. The system adopts the automatic measurement method of the spatial angle based on photoelectric scanning to locate a single receiver. The optical plane signal with angle information is emitted externally to provide positioning service signals for the receiver in the measurement space; the laser receiver receives the optical plane signal and converts it into an electrical signal and sends it to the signal processor. The signal processor uses the internal crystal oscillator as the clock time The time reference measures the timing of the optical signal sent by the transmitting station, and obtains the angle information of each signal processor in the coordinate system of each transmitting station. After the angle information is uploaded to the calculation workstation, it passes through multiple transmitting stations. The angle intersection relationship between them can calculate the three-dimensional coordinates of the receiver. In the above working mode, the transmitting station sends information in one direction, and the signal processor connected to the receiver completes timing and angle measurement based on the local crystal oscillator. There is no closed loop in the broadcast mode between sending and receiving, so confirming the waiting link can be Realize fully automatic multi-point parallel high-precision three-dimensional coordinate measurement, and increase the range by increasing the number of transmitting stations. At present, the wMPS system has been successfully applied in a large number of processing and assembly processes that require multi-process parallelism and overall precision control, such as aerospace manufacturing sites.

However, in dynamic measurement applications such as full physical simulation of the docking process of aerospace equipment, the focus not only includes the spatial position and attitude of multiple devices at any time in the global coordinate system, but also needs to reconstruct the entire motion process on a unified time axis. For the wMPS system, in the application of static or quasi-static (relatively static during measurement) measurement, the spatial position and azimuth angle (attitude) of the measured object can be installed on the surface of the measured object by installing multiple (more than 3 ) The laser receiver uses the optimal fitting algorithm to solve the position and attitude measurement of the measured object in the global coordinate system (or wMPS coordinate system). However, during dynamic measurement, since the system uses multiple transmitting stations to transmit rotating optical signals to scan the space, the movement of the measured object will inevitably introduce dynamic errors, which will affect the calculation accuracy of the object's position and attitude, mainly including the following aspects:

(1) The coordinate measurement error caused by a single receiver receiving the optical signals of multiple transmitting stations asynchronously, which refers to the intersection error caused by the optical signals of the laser transmitting station arriving at the surface of a single receiver at different positions during the movement of the object;

(2) The attitude measurement error introduced by the asynchronous measurement time between multiple receivers, due to the spatial position and azimuth angle (attitude) of the measured object, it is necessary to install multiple (more than 3) receivers on the surface of the measured object For fitting measurement, the measurement time synchronization error between multiple receivers mainly refers to the pose measurement error introduced by the time difference in the space coordinate measurement time of multiple receivers during the movement of the object. The synchronization error mainly comes from two aspects. On the one hand, the coordinate solution time difference is caused by the difference in the time sequence of the optical signal arriving at the receiver when the transmitting station scans multiple receivers in the space; The sequence of data processing in the signal processor is different and the calculation time is different.

Contents of the invention

The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, to provide a method of integrating the signal processor's local timing information in the calculation results, and synchronizing the coordinate measurement results of the laser receivers to the same time, effectively reducing the number of different laser receivers. The position and attitude measurement method of the dynamic object based on wMPS, which causes the position and attitude measurement error of the measured object due to the asynchronous coordinate measurement time.

The technical solution of the present invention is: a kind of position attitude measurement method of dynamic object based on wMPS, comprises the following steps:

Step 1. Place n laser emitting stations on the measurement test site, denoted as laser emitting station i, i=1, 2, 3..., n, and then randomly select m measuring points on the surface of the measured object to install laser receivers, denote Be the laser receiver j, j=1, 2, 3..., m, wherein, n is the number of laser transmitting stations, and m is the number of laser receivers;

Step 2: Let n laser emitting stations rotate at a constant speed, laser emitting station i sends synchronous light pulses at the beginning of the rotation period T _i , and at the same time sends two beams of scanning light pulses within the rotation period T _i , wherein, n laser The rotation period of the transmitting station is recorded as T ₁ , T ₂ , T ₃ ... T _n respectively; the synchronous optical pulse and scanning optical pulse are optical plane signals, and the synchronous optical pulse of laser transmitting station i and the two beams of scanning optical pulse The angle information is different and the angle information of the synchronous light pulse and the two scanning light pulses of the n laser transmitting stations is different, wherein the angle information is the angle between the light plane signal and the vertical plane of the horizontal plane;

Step 3, make the m laser receivers receive the synchronous optical pulses and scanning optical pulses sent by multiple laser transmitting stations and convert them into synchronous electrical pulses and scanning electrical pulse signals respectively;

Step 4: Use a unified timing reference to match the timing of the synchronous electrical pulse and the scanning electrical pulse signal of the laser transmitting station i according to the rotation period T _i of the laser transmitting station i. For the laser transmitter i, the laser receiver receives the laser transmitting The moment of the synchronous light pulse of laser transmitter i is recorded as t ₀ , and the moment when the laser receiver receives the two beams of scanning light pulses of laser transmitter i is respectively recorded as t ₁ and t ₂ , and the laser emission within the rotation period T _i is obtained The rotation angles θ _1i and θ _2i of the laser receiver i when the device i sweeps are respectively

Take t ₀ as the time stamp of laser emitting station i;

Step 5: Establish the wMPS coordinate system, and then calibrate the plane equation coefficients of the two scanning light planes of the laser emitting station i in the wMPS coordinate system, and record them as (a _1i , b _1i , c _1i , d _1i ) and (a _2i ,b _2i ,c _2i ,d _2i ), calibrate the plane equation coefficients of the two beam planes of laser emitting station k, and record them as (a _1k ,b _1k ,c _1k ,d _1k ) and ( a _2k ,b _2k ,c _2k ,d _2k ), and then obtain the coordinates P _j (x _j ,y _j ,z _j ) of laser receiver j at time t _pj , traverse all laser receivers, and obtain the coordinates of each laser receiver , and are recorded as P ₁ , P ₂ , P ₃ ,...P _m , and the coordinate solution times are t _p1 , t _p2 , t _p3 ,...t _pm , where k=1,2,3...n, Obtaining (x _j ,y _j ,z _j ) can be obtained by the following formula

(a _1i cos(θ _1i )-b _1i sin(θ _1i ))x _j +(a _1i sin(θ _1i )+b _1i cos(θ _1i ))y _j +c _1i z _j +d _1i ＝0

(a _2i cos(θ _2i )-b _2i sin(θ _2i ))x _j +(a _2i sin(θ _2i )+b _2i cos(θ _2i ))y _j +c _2i z _j +d _2i ＝0

(a _1k cos(θ _1k )-b _1k sin(θ _1k ))x _j +(a _1k sin(θ _1k )+b _1k cos(θ _1k ))y _j +c _1k z _j +d _1k ＝0

(a _2k cos(θ _2k )-b _2k sin(θ _2k ))x _j +(a _2k sin(θ _2k )+b _2k cos(θ _2k ))y _j +c _2k z _j +d _2k ＝0;

t _pj is the average value of the time stamps of all laser transmitting stations received by laser receiver j, the Z axis of the wMPS coordinate system is vertically upward, the intersection point of the Z axis and the first synchronous light pulse of laser transmitting station 1 is the origin, and the XOY plane Passing through the origin and perpendicular to the Z axis, the intersection line of the first synchronous optical pulse and the XOY plane is the X axis, and the direction of the Y axis is determined according to the right-hand rule;

Step 6. If max(t _p1 ,t _p2 ,t _p3 ,…t _pm )-min(t _p1 ,t _p2 ,t _p3 ,…t _pm )≤T _max , then according to the coordinates of each laser receiver (P ₁ , P ₂ ,P ₃ ,...P _m ) calculate the position and attitude of the dynamic object, and the position and attitude measurement of the dynamic object ends, if max(t _p1 ,t _p2 ,t _p3 ,...t _pm )-min(t _p1 ,t _p2 , t _p3 ,...t _pm )>T _max , then go to step 7, where T _max =max(T ₁ ,T ₂ ,T ₃ ,...,T _i );

Step 7, make t _pq = max(t _p1 , t _p2 , t _p3 ,...t _pm ), and obtain the corrected coordinate P" _k of the laser receiver k at time t _pq as

Wherein, P' _k is the coordinate of a rotation period on the laser receiver k, q=1,2,3...m, t' _pk is the moment of the coordinate P' _k of a rotation period on the laser receiver k;

Step 8: Calculating the position and attitude of the dynamic object according to the coordinates P ₁ ″, P ₂ ″, P ₃ ″, . . . , P _m ″ of each laser receiver.

Said m≥3.

The unified timing reference is the internal crystal oscillator of the signal processor.

The advantage of the present invention compared with prior art is:

(1) The method of the present invention takes the existing wMPS system signal processor clock as the time scale, integrates the local timing information of the signal processor in the calculation result, and synchronizes the coordinate measurement results of multiple laser receivers connected to the signal processor to the same moment , which can effectively reduce the position and attitude measurement error of the measured object caused by different laser receivers due to the asynchronous coordinate measurement time, and realize real-time high-precision large-scale position and attitude measurement on the industrial site based on wMPS;

(2) The method of the present invention overcomes the defect that the existing dynamic object coordinate measurement method is only limited to the acquisition of space coordinates, and each measurement result does not contain time information, and combines all dynamic coordinate measurements with the time axis to make the data results more accurate. Comprehensively and accurately reflect the space-time information of dynamic objects;

(3) The method of the present invention overcomes the error caused by the asynchronous scanning optical signal of the laser transmitting station in the existing dynamic object coordinate measurement method, that is, the time at which the optical signal of different laser transmitting stations arrives at the laser receiver is different, resulting in the actual measured The original observation (scanning angle) is not the same as the defect of the abstract point, through the time complementing process, the error is greatly eliminated, and the dynamic measurement accuracy is improved;

(4) The method of the present invention overcomes the defect that the time when each laser receiver receives the signal from the transmitting station is different in the existing method for measuring the coordinates of a dynamic object, which brings about the asynchronous error of the laser receiver, and compensates for this error, Improved dynamic measurement accuracy.

Description of drawings

Fig. 1 is a device distribution diagram in a method for measuring the position and attitude of a dynamic object based on wMPS in the present invention;

Fig. 2 is a principle flow chart of a method for measuring the position and attitude of a dynamic object based on wMPS in the present invention;

Fig. 3 is a schematic diagram of an attitude measurement error caused by asynchronous measurement moments of multiple laser receivers in the method of the present invention.

detailed description

During the dynamic measurement of the wMPS system, since the system uses multiple transmitting stations to emit rotating optical signals to scan the space, the movement position and attitude measurement of the measured object will inevitably introduce dynamic errors, which will affect the calculation accuracy of the object's position and attitude, mainly including two aspects:

(1) The coordinate measurement error caused by a single receiver receiving the optical signals of multiple transmitting stations asynchronously, which refers to the intersection error caused by the optical signals of the laser transmitting station arriving at the surface of a single receiver at different positions during the movement of the object;

(2) The attitude measurement error introduced by the asynchronous measurement time between multiple receivers, due to the spatial position and azimuth angle (attitude) of the measured object, it is necessary to install multiple (more than 3) receivers on the surface of the measured object For fitting measurement, the measurement time synchronization error between multiple receivers mainly refers to the pose measurement error introduced by the time difference in the space coordinate measurement time of multiple receivers during the movement of the object. The synchronization error mainly comes from two aspects. On the one hand, the coordinate solution time difference is caused by the difference in the time sequence of the optical signal arriving at the receiver when the transmitting station scans multiple receivers in the space; The sequence of data processing in the signal processor is different and the calculation time is different.

The above-mentioned first error is determined by the principle of system measurement. Ideally, it can be guaranteed to be within the period of the slowest measurable rotating speed transmitting station (for example, if the slowest rotating speed between multiple transmitting stations is 1800rpm, the synchronization time error can be guaranteed to be within Within 33.33ms), compensation is more difficult. Considering that a single crystal oscillator is used inside the signal processor to measure the timing of the optical pulses received by the receiver, the method of the present invention focuses on how to synchronize the above-mentioned second error by integrating the local timing information of the signal processor in the calculation result. Compensation, so as to maximize the attitude measurement accuracy of the measured object.

The present invention proposes a method for measuring the position and attitude of dynamic objects in a workspace measurement and positioning system (wMPS), which fully utilizes the existing clock information inside the signal processor in the workspace measurement and positioning system to receive multiple laser beams connected to the signal processor The coordinate measurement results of the device are synchronized to the same time, improving the accuracy of the on-site dynamic position and attitude measurement. Below in conjunction with accompanying drawing, the method of the present invention is described in detail, as shown in Figure 2, a kind of position attitude measurement method of the dynamic object based on wMPS of the present invention comprises the following steps:

Step 1. Measure the size of the working space on the test site, and then place n laser emitting stations according to the measured size of the working space on the test site. The laser emitting stations rotate at a constant speed, and each laser emitting station emits two beams with angle information during the rotation process. The optical plane signals (respectively denoted as the first optical plane and the second optical plane signal), the angle information of the two beams of optical plane signals is different and the angle information of the optical plane signals of n laser transmitting stations is different, so that n laser emitting stations The light pulse emission range of the station can cover the working space of the test site, and then use the reference ruler to calibrate the external parameters of each laser emission station, and establish the wMPS coordinate system (the definition of the wMPS coordinate system is as follows: the Z axis is vertically upward, when the laser emission station i When the synchronous light is triggered, the intersection of the Z-axis and the plane of the first beam of light at laser emitting station i is the origin, and the XOY plane passes through the origin and is perpendicular to the Z-axis. At this time, the intersection line of the first beam of light and the XOY plane is defined as X Axis, pointing to the direction of the laser receiver, Y-axis pointing is determined according to the right-hand rule, laser transmitting station i is selected arbitrarily), and more than three measuring points are arbitrarily selected on the surface of the measured object to install the laser receiver for dynamic object position Attitude measurement, wherein the n laser transmitting stations are laser transmitting station 1, laser transmitting station 2, laser transmitting station 3...laser transmitting station n, the angle information is the angle between the optical plane signal and the vertical plane of the horizontal plane and the position is 0.

Step 2: Add local clock information to the angle information of each laser emitting station in the communication data packet of the signal processor (that is, add time stamps to the measurement data), wherein the communication data frame of the signal processor includes the angle information of each laser emitting station The rotation angle information and the response time stamp, the specific method is:

(1) Let n laser emitting stations rotate at a constant speed with their axis (parallel to the Z axis) as a symmetrical axis, wherein laser emitting station i sends a synchronous optical pulse at the beginning of each cycle T _i of rotation, and each cycle Two beams of scanning light pulses are also generated and sent in T _i , T _i is the period of uniform rotation of the laser emitting station i and the rotary axis of each laser emitting station is different;

(2) The laser receiver receives synchronous optical pulses and scanning optical pulses emitted by multiple laser transmitting stations and converts them into synchronous electrical pulses and scanning electrical pulse signals respectively, and then sends them to the signal processor;

(3) After the signal processor receives the synchronous electrical pulse and scanning electrical pulse signals sent by the laser receiver, the electrical pulses formed by the synchronous optical pulses and scanning optical pulses of different laser transmitting stations are rotated according to the transmitting station with the internal crystal oscillator as the timing reference Periodic matching timing, if the receiver receives the synchronous optical pulse signal of laser transmitting station i at time t ₀ and continuously receives two beams of scanning optical pulse signals of laser transmitting station i at the next time t ₁ and t ₂ , then In the rotation period T _i of the laser transmitting station i, the rotation angles when the laser transmitting station i scans the current laser receiver are respectively:

Since the time t ₀ of the synchronous light pulse marks the time starting point of the periodic signal transmission of the laser transmitting station i, the synchronous light time t ₀ recorded by the signal processor is used as the time stamp of the rotation angle θ ₁ and θ ₂ of the transmitting station; signal processing The device packs the rotation angle information (θ _1i , θ _2i ) of laser transmitting station i received by each laser receiver and the corresponding time stamp to form a data frame of laser transmitting station i, and uploads it to the computing workstation.

Step 3: Calculate the data frame of the laser transmitting station i with the rotation angle information and the corresponding time stamp sent by the workstation to receive the signal processor. According to the rotation angle information of two or more laser transmitting stations sent by the laser receiver, the The rendezvous principle calculates the coordinates P _j (x, y, z) of the receiver j at this time, wherein, in the method of the present invention, it is assumed that m laser receivers are placed on the dynamic object, and are recorded as laser receiver 1, laser receiver 2 , Laser receiver 3...Laser receiver m, since P _j (x, y, z) is the comprehensive result of the intersection of the angle information of each laser transmitting station, therefore, at this time, the mean value of the angle information timestamp of each transmitting station is used as the coordinate P The measurement moment t _p of _j (x, y, z); where, according to the rotation angle information (θ _1i , θ _2i ) of laser transmitting station i in wMPS coordinate system, the rotation angle of laser transmitting station k in wMPS coordinate system Information (θ _1k , θ _2k ) calculates the coordinate P _j (x, y, z) of receiver j at this time and the calculation process is:

The plane equation coefficients of the two scanning light planes of laser transmitting station i and laser transmitting station k are respectively calibrated by the camera internal parameter calibration method, and are recorded as: (a _1i , b _1i , c _1i , d _1i ) and ( a _2i ,b _2i ,c _2i ,d _2i ), (a _1k ,b _1k ,c _1k ,d _1k ) and (a _2k ,b _2k ,c _2k ,d _2k ), then when laser emitting station i and laser emitting When station k sweeps across receiver j, the coordinates P _j (x _j , y _j , z _j ) of receiver j at this time satisfy the following equation:

(a _1i cos(θ _1i )-b _1i sin(θ _1i ))x _j +(a _1i sin(θ _1i )+b _1i cos(θ _1i ))y _j +c _1i z _j +d _1i ＝0

(a _2i cos(θ _2i )-b _2i sin(θ _2i ))x _j +(a _2i sin(θ _2i )+b _2i cos(θ _2i ))y _j +c _2i z _j +d _2i ＝0

(a _1k cos(θ _1k )-b _1k sin(θ _1k ))x _j +(a _1k sin(θ _1k )+b _1k cos(θ _1k ))y _j +c _1k z _j +d _1k ＝0

(a _2k cos(θ _2k )-b _2k sin(θ _2k ))x _j +(a _2k sin(θ _2k )+b _2k cos(θ _2k ))y _j +c _2k z _j +d _2k ＝0,

The coordinates (x _j , y _j , z _j ) of the receiver j (in the wMPS coordinate system) can be obtained by solving the problem.

Step 4, since accurate pose measurement needs to obtain the spatial coordinates of more than three laser receivers in the global coordinate system (the default is the wMPS coordinate system here) at the same time, so each laser receiver can be measured and calculated according to step 3 The coordinates of the laser transmitter are P ₁ , P ₂ , P ₃ ,...P _m , and the coordinate solution time is t _p1 , t _p2 , t _p3 ,...t _pm , and the slowest laser launch station cycle that can be observed on site is T _max (that is, the maximum value of the emission period of n laser transmitting stations, T _max = max[T ₁ , T ₂ , T ₃ ,...,T _i ]), at this time, make a judgment, if max(t _p1 ,t _p2 ,t _p3 ,…t _pm )-min(t _p1 ,t _p2 ,t _p3 ,…t _pm )≤T _max , then it is considered that there is no synchronization error (or small error) between the coordinate measurement and calculation times of each laser receiver , the coordinates of each laser receiver are P ₁ , P ₂ , P ₃ ,...P _m , if max(t _p1 ,t _p2 ,t _p3 ,...t _pm )-min(t _p1 ,t _p2 ,t _p3 ,... t _pm )>T _max , it is considered that there is a synchronization error between the coordinate measurement and calculation times of each laser receiver, and time data synchronization is required. Time data synchronization is based on the following premise:

1) During the movement of large-scale equipment, due to the large mass inertia of the measured object itself, the movement in a short period of time can be considered as advancing at a constant speed v in a certain direction;

2) In the measurement field, the data output of the signal processor is continuous in time, and the speed v and the coordinates at any time in a short period of time can be estimated according to the adjacent coordinates of the two measurements and the coordinate solution time.

The time data synchronization method is shown in Figure 3, and the specific process is as follows:

(1) Select the largest laser receiver coordinate P _m (the result is the latest and closest to the real-time coordinates in motion) at the solution moment (t _p1 , t _p2 , t _p3 ,...t _pm ) in the measurable receiver, Its measurement time is t _pm ;

(2) Assume that the coordinates of the laser receiver calculated in the current frame data (current rotation period) and the last frame data (previous rotation period) of the laser receiver that needs to synchronize data at all times are P _m and P' _m , and their coordinates The measurement time is t _pm and t' _pm , then the corrected coordinates of the current laser receiver at t _pm are

(3) The corrected coordinates of each laser receiver in the global coordinate system after time data synchronization are P ₁ ”, P ₂ ”, P ₃ ”,…,P _m ”.

Step five, when max(t _p1 ,t _p2 ,t _p3 ,…t _pm )-min(t _p1 ,t _p2 ,t _p3 ,…t _pm )≤T _max , according to each laser receiver coordinates (P ₁ , P ₂ , P ₃ ,...P _m ) calculate the position and attitude of the dynamic object;

When max(t _p1 ,t _p2 ,t _p3 ,…t _pm )-min(t _p1 ,t _p2 ,t _p3 ,…t _pm )>T _max , according to each laser receiver coordinates (P ₁ ”,P ₂ ",P ₃ ",...,P _m ") the process of calculating the position and attitude of a dynamic object, wherein the above calculation process is to solve the attitude of the rigid body according to the space coordinate points fixedly connected with the rigid body, please refer to the patent "Indoor Mobile Robot Based on Photoelectric Scanning Pose Measurement Method".

The content that is not described in detail in the description of the present invention belongs to the well-known technology of those skilled in the art.

Claims (3)

1. A method for measuring the position and attitude of a dynamic object based on wMPS, comprising: Step 1. Place n laser emitting stations on the measurement test site, denoted as laser emitting station i, i=1, 2, 3..., n, and then randomly select m measuring points on the surface of the measured object to install laser receivers, denote Be the laser receiver j, j=1, 2, 3..., m, wherein, n is the number of laser transmitting stations, and m is the number of laser receivers; Step 2: Let n laser emitting stations rotate at a constant speed, laser emitting station i sends synchronous light pulses at the beginning of the rotation period T _i , and at the same time sends two beams of scanning light pulses within the rotation period T _i , wherein, n laser The rotation period of the transmitting station is recorded as T ₁ , T ₂ , T ₃ ... T _n respectively; the synchronous optical pulse and scanning optical pulse are optical plane signals, and the synchronous optical pulse of laser transmitting station i and the two beams of scanning optical pulse The angle information is different and the angle information of the synchronous light pulse and the two scanning light pulses of the n laser transmitting stations is different, wherein the angle information is the angle between the light plane signal and the vertical plane of the horizontal plane; Step 3, make the m laser receivers receive the synchronous optical pulses and scanning optical pulses sent by multiple laser transmitting stations and convert them into synchronous electrical pulses and scanning electrical pulse signals respectively; Step 4: Use a unified timing reference to match the timing of the synchronous electrical pulse and the scanning electrical pulse signal of the laser transmitting station i according to the rotation period T _i of the laser transmitting station i. For the laser transmitter i, the laser receiver receives the laser transmitting The moment of the synchronous light pulse of laser transmitter i is recorded as t ₀ , and the moment when the laser receiver receives the two beams of scanning light pulses of laser transmitter i is respectively recorded as t ₁ and t ₂ , and the laser emission within the rotation period T _i is obtained The rotation angles θ _1i and θ _2i of the laser receiver i when the device i sweeps are respectively ${\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}}{\mathrm{<span\; class="notranslate">\; T</span>}\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; \&pi;</span>}$ ${\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}}{\mathrm{<span\; class="notranslate">\; T</span>}\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; *</span>\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; \&pi;</span>}$ Take t ₀ as the time stamp of laser emitting station i; It is characterized in that comprising the steps of: Step 5: Establish the wMPS coordinate system, and then calibrate the plane equation coefficients of the two scanning light planes of the laser emitting station i in the wMPS coordinate system, and record them as (a _1i , b _1i , c _1i , d _1i ) and (a _2i ,b _2i ,c _2i ,d _2i ), calibrate the plane equation coefficients of the two beam planes of laser emitting station k, and record them as (a _1k ,b _1k ,c _1k ,d _1k ) and ( a _2k ,b _2k ,c _2k ,d _2k ), and then obtain the coordinates P _j (x _j ,y _j ,z _j ) of laser receiver j at time t _pj , traverse all laser receivers, and obtain the coordinates of each laser receiver , and are recorded as P ₁ , P ₂ , P ₃ ,...P _m , and the coordinate solution times are t _p1 , t _p2 , t _p3 ,...t _pm , where k=1,2,3...n, Obtaining (x _j ,y _j ,z _j ) can be obtained by the following formula (a _1i cos(θ _1i )-b _1i sin(θ _1i ))x _j +(a _1i sin(θ _1i )+b _1i cos(θ _1i ))y _j +c _1i z _j +d _1i ＝0 (a _2i cos(θ _2i )-b _2i sin(θ _2i ))x _j +(a _2i sin(θ _2i )+b _2i cos(θ _2i ))y _j +c _2i z _j +d _2i ＝0 (a _1k cos(θ _1k )-b _1k sin(θ _1k ))x _j +(a _1k sin(θ _1k )+b _1k cos(θ _1k ))y _k +c _1k z _j +d _1k ＝0 (a _2k cos(θ _2k )-b _2k sin(θ _2k ))x _j +(a _2k sin(θ _2k )+b _2k cos(θ _2k ))y _j +c _2k z _j +d _2k ＝0; t _pj is the average value of the time stamps of all laser transmitting stations received by laser receiver j, the Z axis of the wMPS coordinate system is vertically upward, the intersection point of the Z axis and the first synchronous light pulse of laser transmitting station 1 is the origin, and the XOY plane Passing through the origin and perpendicular to the Z axis, the intersection line between the first beam of synchronous optical pulses and the XOY plane is the X axis, and the direction of the Y axis is determined according to the right-hand rule; Step 6. If max(t _p1 ,t _p2 ,t _p3 ,…t _pm )-min(t _p1 ,t _p2 ,t _p3 ,…t _pm )≤T _max , then according to the coordinates of each laser receiver (P ₁ , P ₂ ,P ₃ ,...P _m ) calculate the position and attitude of the dynamic object, and the position and attitude measurement of the dynamic object ends, if max(t _p1 ,t _p2 ,t _p3 ,...t _pm )-min(t _p1 ,t _p2 , t _p3 ,...t _pm )>T _max , then go to step 7, where T _max =max(T ₁ ,T ₂ ,T ₃ ,...,T _i ); Step 7, make t _pq = max(t _p1 , t _p2 , t _p3 ,...t _pm ), and obtain the corrected coordinate P" _k of the laser receiver k at time t _pq as ${{\mathrm{<span\; class="notranslate">\; P</span>}}^{<span\; class="notranslate">\; \&prime;</span><span\; class="notranslate">\; \&prime;</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; P</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; +</span>\frac{{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}\mathrm{<span\; class="notranslate">\; q</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}\mathrm{<span\; class="notranslate">\; k</span>}}}{{{\mathrm{<span\; class="notranslate">\; t</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}\mathrm{<span\; class="notranslate">\; k</span>}}}<span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; P</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; -</span>{{\mathrm{<span\; class="notranslate">\; P</span>}}^{<span\; class="notranslate">\; \&prime;</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span>$ Wherein, P' _k is the coordinate of a rotation period on the laser receiver k, q=1,2,3...m, t' _pk is the moment of the coordinate P' _k of a rotation period on the laser receiver k; Step 8: Calculating the position and attitude of the dynamic object according to the coordinates P ₁ ″, P ₂ ″, P ₃ ″, . . . , P _m ″ of each laser receiver. 2. A method for measuring the position and attitude of a dynamic object based on wMPS according to claim 1, characterized in that: said m≥3. 3. The method for measuring the position and attitude of a dynamic object based on wMPS according to claim 1 or 2, characterized in that: the unified timing reference is the internal crystal oscillator of the signal processor.