CN105157687B - A kind of position attitude measurement method of the dynamic object based on wMPS - Google Patents
A kind of position attitude measurement method of the dynamic object based on wMPS Download PDFInfo
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Abstract
A kind of position attitude measurement method of the dynamic object based on wMPS, first laser sending station is placed in measurement testing ground, laser pickoff is installed on measured object surface, and make laser sending station at the uniform velocity rotation and send light pulse signal, then the anglec of rotation and timestamp of each laser pickoff are obtained by the rotation period of internal crystal oscillator, each laser sending station, and then resolving obtains each laser receiver position coordinate, finally judge laser receiver position coordinate and be modified, and then complete the measurement of dynamic object position and attitude.The inventive method is compared with prior art, integrated signal processor is in local clocking information in result of calculation, multiple laser pickoff coordinate measurements are synchronized to synchronization, the measured object position and attitude measurement error that laser pickoff is caused because the measurement of coordinates moment is asynchronous is effectively reduced, the industry spot real-time high-precision large scale pose measurement based on wMPS is realized.
Description
Technical field
The present invention relates to dynamic object fields of measurement, the position and attitude of particularly a kind of dynamic object based on wMPS is measured
Method.
Background technology
Working space measurement and positioning system (wMPS：Workspace Measurement Positioning System) be
For the Large-scale Manufacturing position and attitude measurement demand such as space flight, aviation, shipbuilding and global measuring control net the characteristics of and developed
A kind of novel multi-station network type interior space measurement and positioning system come, can be achieved high-precision under large-scale dimension global coordinate system
The automatic paralleling measurement of degree.Working space measurement and positioning system of the prior art (《Plane of scanning motion laser space positioning system is measured
The structure of network》Described working space measurement and positioning system) as Fig. 1 include multiple laser sending stations, multiple laser pick-ofves
Device (receiver), signal processor and resolving work station, system use the space angle method for automatic measurement based on optoelectronic scanning
Single receiver is positioned, wherein, laser sending station is operationally not responsible to resolve receiver coordinate, but shafting is at the uniform velocity
The optical plane signal of the angled information of outside transmitting band is rotated, positioning service signal is provided for the receiver in measurement space；Swash
Optical receiver, which receives optical plane signal and is converted to electric signal, is sent to signal processor, signal processor using internal crystal oscillator as when
Optical signal that clock timing time benchmark is sent to cell site carries out timing measuring, and therefrom obtain each signal processor from
Angle information under each cell site coordinate system, angle information is after resolving work station is uploaded to, by between multiple cell sites
Point of intersection relation can calculate the three-dimensional coordinate of receiver.In above-mentioned mode of operation, cell site unidirectionally sends information, even
The signal processor for being connected to receiver uses broadcast by timing of local crystal oscillator between basis completion timing angle measurement, transmission-reception
Closed loop is not present in pattern, therefore confirms to wait link, and the high-precision three-dimensional measurement of coordinates of full-automatic multipoint parallel can be achieved, and can
The purpose of increase range is reached by increasing cell site's number.At present, wMPS systems need at Aero-Space manufacture scene etc.
A large amount of successful applications have been obtained during parallel and overall precision control the process and assemble of multiple operation.
But in such as space equipment docking operation full physical simulation etc. dynamically measurement application, focal point not only includes many
Any instant locus and posture of the individual equipment under global coordinate system, in addition it is also necessary to whole fortune is rebuild on unified time shaft
Dynamic process.For wMPS systems, in the application of static or quasistatic (relative static conditions are in during measurement) measurement, quilt
Survey thing locus and orientation angles (posture) can by installed on measured object surface multiple (more than 3) laser pickoffs with
Optimize fitting algorithm and solve position and orientation measurement of the measured object under global coordinate system (or wMPS coordinate systems).But dynamic
During measurement, rotating light signals are launched using multiple cell sites due to system spacescan is carried out to space, the motion of measured object must
Dynamic error can be so introduced, object space Attitude Calculation precision is influenceed, mainly including following aspect：
(1) single receiver receives the coordinate measuring error of the asynchronous introducing of multiple cell site's optical signals, and the error refers to
Laser sending station optical signal is successively reached to intersect caused by single receiver surface and missed in diverse location during object of which movement
Difference；
(2) attitude measurement error that the measurement moment between multiple receivers is asynchronous and introduces, due to the space of measured object
Position and orientation angles (posture) need to be fitted measurement by installing multiple (more than 3) receivers on measured object surface,
Measurement timing synchronization error between multiple collector is referred mainly to during object of which movement because multiple receiver space coordinates are measured
Moment existence time priority difference and the pose measurement error introduced.The synchronous error be mainly derived from two aspect, on the one hand by
In cell site, optical signal reaches seat caused by receiver time order and function order difference during the multiple receivers of scanning space
Mark resolves moment difference, on the other hand comes from multiple receiver datas and sequencing difference is handled in signal processor and is resolved
Moment difference.
The content of the invention
Present invention solves the technical problem that being：Overcome the deficiencies in the prior art there is provided one kind in result of calculation it is integrated
Laser pickoff coordinate measurement is synchronized to synchronization by signal processor in local clocking information, and effectively reduction is different
Laser pickoff causes the goer based on wMPS of measured object position and attitude measurement error because the measurement of coordinates moment is asynchronous
The position attitude measurement method of body.
The present invention technical solution be：A kind of position attitude measurement method of the dynamic object based on wMPS, including
Following steps：
Step 1: placing n laser sending station in measurement testing ground, laser sending station i, i=1,2,3 ..., n are designated as,
Then m measuring point is arbitrarily chosen on measured object surface laser pickoff is installed, be designated as laser pickoff j, j=1,2,3 ..., m, its
In, n is laser sending station quantity, and m is laser pickoff quantity；
Step 2: making the at the uniform velocity rotation of n laser sending station, laser sending station i is in rotation period TiInitial time send
Synchronous light pulse, while in rotation period TiInside also send two beam scanning light pulses, wherein, n laser sending station from turn-week
Phase is designated as T respectively1、T2、T3…Tn；Described synchronous light pulse, scanning light pulse are optical plane signal, and laser sending station i's is same
Walk light pulse, two beam scanning light pulses angle information is different and synchronous light pulse of n laser sending station, two beam scannings
Light pulse angle information is different, wherein, angle information is the angle of the vertical plane of optical plane signal and horizontal plane；
Step 3: making the synchronous light pulse and scanning that m laser pickoff sends the multiple laser sending stations received
Light pulse is simultaneously respectively converted into synchronous electric pulse and scanning electric impulse signal；
Step 4, with unified time base to laser sending station i synchronous electric pulse and scanning electric impulse signal according to
Laser sending station i rotation period TiMatching timing is carried out, for generating laser i, laser pickoff is received into laser hair
T is designated as at the time of emitter i synchronous light pulse0, laser pickoff is respectively received to generating laser i two beam scanning light arteries and veins
T is designated as at the time of punching respectively1、t2, obtain in rotation period TiAnglec of rotation during interior generating laser i is inswept laser pickoff
θ1i、θ2iRespectively
By t0It is used as laser sending station i timestamp；
Step 5: set up wMPS coordinate systems, then two beam scanning optical planes in wMPS coordinate systems to laser sending station i
Plane equation coefficient demarcated, and be designated as (a respectively1i,b1i,c1i,d1i) and (a2i,b2i,c2i,d2i), to laser sending station
The plane equation coefficient of k two-beam plane is demarcated, and is designated as (a respectively1k,b1k,c1k,d1k) and (a2k,b2k,c2k,
d2k), and then laser pickoff j is obtained in tpjThe coordinate P at momentj(xj,yj,zj), all laser pickoffs are traveled through, each is obtained
Laser pickoff coordinate, and P is designated as respectively1,P2,P3,…Pm, the calculating coordinate moment is respectively tp1,tp2,tp3,……tpm, its
In, k=1,2,3 ... n obtain (xj,yj,zj) can be tried to achieve by following formula
(a1icos(θ1i)-b1isin(θ1i))xj+(a1isin(θ1i)+b1icos(θ1i))yj+c1izj+d1i=0
(a2icos(θ2i)-b2isin(θ2i))xj+(a2isin(θ2i)+b2icos(θ2i))yj+c2izj+d2i=0
(a1kcos(θ1k)-b1ksin(θ1k))xj+(a1ksin(θ1k)+b1kcos(θ1k))yj+c1kzj+d1k=0
(a2kcos(θ2k)-b2ksin(θ2k))xj+(a2ksin(θ2k)+b2kcos(θ2k))yj+c2kzj+d2k=0；
tpjFor the average of the laser pickoff j all laser sending station timestamps received, the Z axis of wMPS coordinate systems is vertical
Upwards, the intersection point of Z axis light pulse synchronous with the first beam of laser sending station 1 is origin, and XOY plane crosses origin and perpendicular to Z axis,
The intersection of the synchronization light pulse of first beam and XOY plane is X-axis, and Y-axis is pointed to and determined according to the right-hand rule；
If Step 6: max (tp1,tp2,tp3,…tpm)-min(tp1,tp2,tp3,…tpm)≤Tmax, then swashed according to each
Optical receiver coordinate (P1,P2,P3,……Pm) dynamic object position and attitude is calculated, the position and attitude measurement of dynamic object terminates,
If max (tp1,tp2,tp3,…tpm)-min(tp1,tp2,tp3,…tpm)>Tmax, then step 7 is transferred to, wherein, Tmax=max
(T1,T2,T3,…,Ti)；
Step 7: making tpq=max (tp1,tp2,tp3,……tpm), obtain tpqMoment laser pickoff k amendment coordinate
P"kFor
Wherein, P 'kFor the coordinate of a laser pickoff k upper rotation periods, q=1,2,3 ... m, t 'pkFor laser pickoff k
The coordinate P ' of a upper rotation periodkAt the time of；
Step 8: according to each laser pickoff coordinate P1”,P2”,P3”,…,Pm" calculate dynamic object position and attitude.
Described m >=3.
Described unified time base is the inside crystal oscillator of signal processor.
The advantage of the present invention compared with prior art is：
(1) the inventive method is using existing wMPS system signals processor clock as markers, the integrated signal in result of calculation
The multiple laser pickoff coordinate measurements for connecting signal processor are synchronized to for the moment by processor in local clocking information
Carve, can effectively reduce the measured object position and attitude measurement mistake that different laser pickoffs are caused because the measurement of coordinates moment is asynchronous
Difference, realizes the industry spot real-time high-precision large scale pose measurement based on wMPS；
(2) the present invention overcomes existing dynamic object coordinate measuring method be limited only to space coordinate acquisition,
Each measurement result does not include the defect of temporal information, and the measurement of all dynamic coordinates and time shaft are combined, make data result
More comprehensively, the space time information of dynamic object is reflected exactly；
(3) included the present invention overcomes existing dynamic object coordinate measuring method because laser sending station scans light
Error caused by signal is asynchronous, i.e., the time that different laser sending station optical signals reach laser pickoff is different, causes reality
The defect for the non-same abstract point of original observed quantity (scanning angle) that border is measured, passage time polishing process is big by the error
It is big to eliminate, improve dynamic measurement precision；
(4) each laser pickoff receives hair in the existing dynamic object coordinate measuring method of the inventive method customer service
The defect for bringing laser pickoff asynchronous error is differed at the time of penetrating station signal, and this error is compensated, is improved
Dynamic measurement precision.
Brief description of the drawings
Fig. 1 is device distribution map in a kind of position attitude measurement method of the dynamic object based on wMPS of the present invention；
Fig. 2 is a kind of position attitude measurement method principle flow chart of the dynamic object based on wMPS of the present invention；
Fig. 3 is the attitude measurement error principle of the measurement moment asynchronous introducing of multiple laser pickoffs in the inventive method
Figure.
Embodiment
WMPS systems are in dynamically measurement, because system is empty to space progress using multiple cell sites transmitting rotating light signals
Between scan, the movement position attitude measurement of measured object will necessarily introduce dynamic error, influence object space Attitude Calculation precision, main
To include two aspects：
(1) single receiver receives the coordinate measuring error of the asynchronous introducing of multiple cell site's optical signals, and the error refers to
Laser sending station optical signal is successively reached to intersect caused by single receiver surface and missed in diverse location during object of which movement
Difference；
(2) attitude measurement error that the measurement moment between multiple receivers is asynchronous and introduces, due to the space of measured object
Position and orientation angles (posture) need to be fitted measurement by installing multiple (more than 3) receivers on measured object surface,
Measurement timing synchronization error between multiple collector is referred mainly to during object of which movement because multiple receiver space coordinates are measured
Moment existence time priority difference and the pose measurement error introduced.The synchronous error be mainly derived from two aspect, on the one hand by
In cell site, optical signal reaches seat caused by receiver time order and function order difference during the multiple receivers of scanning space
Mark resolves moment difference, on the other hand comes from multiple receiver datas and sequencing difference is handled in signal processor and is resolved
Moment difference.
The first above-mentioned error is determined by systematic survey principle, can ideally ensure to send out in detectable most low-rotate speed
Penetrate within the cycle of station (for example, lock in time error can ensure if rotating speed is slowly most 1800rpm between multiple cell sites
Within 33.33ms), compensation is more difficult.The light that single crystal oscillator is received to receiver is used in view of signal processor inside
Pulse carry out timing measuring, therefore the inventive method pay close attention to how by result of calculation integrated signal processor this
Ground clocking information is synchronized and compensated to above-mentioned second of error, so as to improve measured object attitude measurement accuracy to greatest extent.
The present invention proposes a kind of position attitude measurement method of dynamic object in working space measurement and positioning system (wMPS),
The existing clock information in signal processor inside in working space measurement and positioning system is made full use of, signal processor will be connected
Multiple laser pickoff coordinate measurements are synchronized to synchronization, improve live dynamic position attitude measurement accuracy.Tie below
Close accompanying drawing the inventive method is described in detail, as shown in Figure 2 a kind of position appearance of the dynamic object based on wMPS of the present invention
State measuring method comprises the following steps：
Step one, testing ground working space size is measured, then measuring size according to testing ground working space places n
Individual laser sending station, laser sending station at the uniform velocity rotation, each laser sending station outwards launches two bands respectively during rotation
The optical plane signal (being designated as the first optical plane, the second optical plane signal respectively) of angled information, the angle of two-beam planed signal
The optical plane signal angle information for spending information difference and n laser sending station is different, makes the light pulse of n laser sending station
Transmitting boundary can cover testing ground working space, then carry out external parameter mark to each laser sending station using station meter
Fixed, setting up wMPS coordinate systems, (wMPS coordinate systems are defined as follows：Z axis straight up, when laser sending station i synchronizable optical is triggered
When, the intersection point of Z axis and laser sending station i the first beam optical plane is origin, and XOY plane crosses origin and perpendicular to Z axis, now the
The intersection of a branch of optical plane and XOY plane is defined as X-axis, is oriented to the direction for pointing to laser pickoff, and Y-axis is pointed to according to the right hand
Rule determination, laser sending station i chooses to be any), and connect in measured object surface arbitrarily more than three measuring points installation laser of selection
Receive device be used for dynamic object position and attitude measurement, wherein, n laser sending station be respectively laser sending station 1, laser sending station 2,
Laser sending station 3 ... laser sending station n, angle information is the angle of the vertical plane of optical plane signal and horizontal plane and position 0.
Step 2, when being that the angle information of each laser sending station adds local in the communication data packets of signal processor
Clock information (being measurement data capping timestamp), wherein, the communication data frame of signal processor includes each laser sending station
Rotation angle information and response time stamp, specific method is:
(1) it is that symmetry axis at the uniform velocity rotates with its axis (parallel to Z axis) to make n laser sending station, wherein, laser sending station
Each cycle Ts of the i in rotationiInitial time send synchronous light pulse, each cycle TiInside also produce and send two beam scanning light
Pulse, TiDiffered for the laser sending station i rotary shaft devices at the uniform velocity revolving cycle turnover and each laser sending station；
(2) laser pickoff receives the synchronous light pulse and scanning light pulse of multiple laser sending stations transmitting and by its point
Synchronous electric pulse and scanning electric impulse signal are not converted to, are then sent to signal processor；
(3) signal processor is received after the synchronous electric pulse and scanning electric impulse signal of laser pickoff transmission, within
Portion's crystal oscillator is time base to the synchronous light pulse of different laser sending stations and scans the electric pulse of light pulse formation according to transmitting
Swing circle of standing carries out matching timing, such as t0Reception device receives laser sending station i synchronous light pulse signal and connect
The t got off1Moment and t2Moment continuously receives laser sending station i two beam scanning light pulse signals, then in the laser sending station
I swing circle TiAnglec of rotation during interior laser sending station i is inswept present laser receiver is respectively：
Due to synchronizable optical pulse time t0The start time of laser sending station i this periodic signal transmission is indicated, therefore
The synchronizable optical moment t that signal processor is recorded0It is used as cell site anglec of rotation θ1, θ2Timestamp；Signal processor by each
Rotation angle information (the θ for the laser sending station i that laser pickoff is received1i, θ2i) and accordingly timestamp is packed into laser hair
Station i data frame is penetrated, and uploads to evaluation work station.
Step 3, evaluation work station receive that signal processor sends with rotation angle information and corresponding timestamp
Laser sending station i data frame, then may be used according to the rotation angle information that laser pickoff sends two or more laser sending station
The coordinate P of receiver j now are calculated according to angle intersection principlej(x, y, z), wherein, dynamic object is assumed in the inventive method
On be placed in m laser pickoff, and be designated as laser pickoff 1, laser pickoff 2, laser pickoff 3 ... laser pickoff m, by
In Pj(x, y, z) is the synthesis result of each laser sending station angle information intersection, therefore, is now believed with each cell site's angle
The average of breath timestamp is used as coordinate PjThe measurement moment t of (x, y, z)p；Wherein, according to laser sending station i in wMPS coordinate systems
Rotation angle information (θ1i, θ2i), rotation angle information (θs of the laser sending station k in wMPS coordinate systems1k, θ2k) calculate reception
The coordinate P of device j nowjThe calculating process of (x, y, z) is：
By camera intrinsic parameter scaling method respectively to laser sending station i, laser sending station k two beam scanning optical planes
Plane equation coefficient demarcated, and be designated as respectively：(a1i,b1i,c1i,d1i) and (a2i,b2i,c2i,d2i), (a1k,b1k,c1k,
d1k) and (a2k,b2k,c2k,d2k), then when laser sending station i and laser sending station k distinguish inswept receiver j, receiver j this
When coordinate Pj(xj,yj,zj) meet equation below：
(a1icos(θ1i)-b1isin(θ1i))xj+(a1isin(θ1i)+b1icos(θ1i))yj+c1izj+d1i=0
(a2icos(θ2i)-b2isin(θ2i))xj+(a2isin(θ2i)+b2icos(θ2i))yj+c2izj+d2i=0
(a1kcos(θ1k)-b1ksin(θ1k))xj+(a1ksin(θ1k)+b1kcos(θ1k))yj+c1kzj+d1k=0
(a2kcos(θ2k)-b2ksin(θ2k))xj+(a2ksin(θ2k)+b2kcos(θ2k))yj+c2kzj+d2k=0,
Solution can obtain the coordinate (x of receiver j (in wMPS coordinate systems) nowj,yj,zj)。
Step 4, needs synchronization to obtain more than three laser pickoffs in the overall situation due to carrying out accurate pose measurement
The space coordinate for (being defaulted as wMPS coordinate systems herein) under coordinate system, thus can be obtained according to step 3 survey calculation each swash
Optical receiver coordinate is P1,P2,P3,……Pm, its calculating coordinate moment is respectively tp1,tp2,tp3,……tpm, live Observable
The most slow laser sending station cycle arrived is Tmax(it is the maximum of n laser sending station transmit cycle, Tmax=max [T1,T2,
T3,…,Ti]), now judged, if max (tp1,tp2,tp3,…tpm)-min(tp1,tp2,tp3,…tpm)≤Tmax, then recognize
Synchronous error (or error is smaller), each laser pickoff is not present between calculating the moment for each laser pickoff measurement of coordinates
Coordinate is P1,P2,P3,……PmIf, max (tp1,tp2,tp3,…tpm)-min(tp1,tp2,tp3,…tpm)>Tmax, then it is assumed that it is each
There is synchronous error, it is necessary to carry out time data synchronization in individual laser pickoff measurement of coordinates, time data is same between calculating the moment
Step is based on following premise：
1) in large scale equipment motion process, because measured object mass inertia itself is larger, motion can be recognized in the short time
It is at the uniform velocity to be advanced with speed v to a direction；
2) signal processor data output is continuous in time in measurement field, according to the adjacent coordinates and seat measured twice
The mark resolving moment can calculate speed v and any time coordinate in the short time.
Time data synchronous method is as shown in figure 3, detailed process is：
(1) selection resolves the moment (t in measurable receiverp1,tp2,tp3,……tpm) in maximum laser pickoff sit
Mark Pm(result is newest, the real-time coordinates closest in motion), it measures the moment for tpm；
(2) assume the laser pickoff for needing time data synchronous in this frame data (current swing circle) and upper frame data
The laser pickoff coordinate resolved in (a upper swing circle) is respectively PmAnd P 'm, its measurement of coordinates moment is tpmAnd t 'pm, then
tpmThe amendment coordinate of moment present laser receiver is
(3) each laser pickoff after time data synchronization corrects coordinate for P under global coordinate system1”,P2”,
P3”,…,Pm”。
Step 5, as max (tp1,tp2,tp3,…tpm)-min(tp1,tp2,tp3,…tpm)≤TmaxWhen, according to each laser
Receiver coordinate (P1,P2,P3,……Pm) calculate dynamic object position and attitude；
As max (tp1,tp2,tp3,…tpm)-min(tp1,tp2,tp3,…tpm)>TmaxWhen, sat according to each laser pickoff
Mark (P1”,P2”,P3”,…,Pm") calculate dynamic object position and attitude process, wherein according to above-mentioned calculating process with rigid body
The space coordinate point connected firmly resolves rigid-body attitude, refers to patent《Position and posture of indoor mobile robot measurement based on optoelectronic scanning
Method》.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (3)
1. a kind of position attitude measurement method of the dynamic object based on wMPS, including：
Step 1: placing n laser sending station in measurement testing ground, laser sending station i, i=1,2,3 ..., n are designated as, then
M measuring point is arbitrarily chosen on measured object surface laser pickoff is installed, be designated as laser pickoff j, j=1,2,3 ..., m, wherein, n
For laser sending station quantity, m is laser pickoff quantity；
Step 2: making the at the uniform velocity rotation of n laser sending station, laser sending station i is in rotation period TiInitial time send synchronizable optical
Pulse, while in rotation period TiTwo beam scanning light pulses are inside also sent, wherein, the rotation period difference of n laser sending station
It is designated as T1、T2、T3…Tn；Described synchronous light pulse, scanning light pulse are optical plane signal, laser sending station i synchronizable optical arteries and veins
Punching, two beam scanning light pulses angle information is different and synchronous light pulse of n laser sending station, two beam scanning light pulses
Angle information is different, wherein, angle information is the angle of the vertical plane of optical plane signal and horizontal plane；
Step 3: making the synchronous light pulse and scanning light arteries and veins that m laser pickoff send the multiple laser sending stations received
Rush and be respectively converted into synchronous electric pulse and scanning electric impulse signal；
Step 4, with unified time base to laser sending station i synchronous electric pulse and scanning electric impulse signal according to laser
Cell site i rotation period TiMatching timing is carried out, for generating laser i, laser pickoff is received into generating laser i
Synchronous light pulse at the time of be designated as t0, laser pickoff is respectively received to generating laser i two beam scanning light pulses
Moment is designated as t respectively1、t2, obtain in rotation period TiAnglec of rotation θ during interior generating laser i is inswept laser pickoff1i、
θ2iRespectively
By t0It is used as laser sending station i timestamp；
It is characterized in that comprising the following steps：
Step 5: set up wMPS coordinate systems, then to the flat of laser sending station i two beam scanning optical planes in wMPS coordinate systems
Face equation coefficient is demarcated, and is designated as (a respectively1i,b1i,c1i,d1i) and (a2i,b2i,c2i,d2i), to laser sending station k's
The plane equation coefficient of two-beam plane is demarcated, and is designated as (a respectively1k,b1k,c1k,d1k) and (a2k,b2k,c2k,d2k), enter
And laser pickoff j is obtained in tpjThe coordinate P at momentj(xj,yj,zj), all laser pickoffs are traveled through, each laser is obtained and connects
Device coordinate is received, and is designated as P respectively1,P2,P3,…Pm, the calculating coordinate moment is respectively tp1,tp2,tp3,……tpm, wherein, k=1,
2,3 ... n, obtain (xj,yj,zj) can be tried to achieve by following formula
(a1icos(θ1i)-b1isin(θ1i))xj+(a1isin(θ1i)+b1icos(θ1i))yj+c1izj+d1i=0
(a2icos(θ2i)-b2isin(θ2i))xj+(a2isin(θ2i)+b2icos(θ2i))yj+c2izj+d2i=0
(a1kcos(θ1k)-b1ksin(θ1k))xj+(a1ksin(θ1k)+b1kcos(θ1k))yk+c1kzj+d1k=0
(a2kcos(θ2k)-b2ksin(θ2k))xj+(a2ksin(θ2k)+b2kcos(θ2k))yj+c2kzj+d2k=0；
tpjFor the average of the laser pickoff j all laser sending station timestamps received, the Z axis of wMPS coordinate systems it is vertical to
On, the intersection point of Z axis light pulse synchronous with the first beam of laser sending station 1 is origin, and XOY plane crosses origin and perpendicular to Z axis, the
The intersection of a branch of synchronous light pulse and XOY plane is X-axis, and Y-axis is pointed to and determined according to the right-hand rule；
If Step 6: max (tp1,tp2,tp3,…tpm)-min(tp1,tp2,tp3,…tpm)≤Tmax, then connect according to each laser
Receive device coordinate (P1,P2,P3,……Pm) dynamic object position and attitude is calculated, the position and attitude measurement of dynamic object terminates, if
max(tp1,tp2,tp3,…tpm)-min(tp1,tp2,tp3,…tpm)>Tmax, then step 7 is transferred to, wherein, Tmax=max (T1,T2,
T3,…,Ti)；
Step 7: making tpq=max (tp1,tp2,tp3,……tpm), obtain tpqMoment laser pickoff k amendment coordinate P "kFor
Wherein, P 'kFor the coordinate of a laser pickoff k upper rotation periods, q=1,2,3 ... m, t 'pkFor laser pickoff k upper one
The coordinate P ' of rotation periodkAt the time of；
Step 8: according to each laser pickoff coordinate P1”,P2”,P3”,…,Pm" calculate dynamic object position and attitude.
2. a kind of position attitude measurement method of dynamic object based on wMPS according to claim 1, it is characterised in that：
Described m >=3.
3. a kind of position attitude measurement method of dynamic object based on wMPS according to claim 1 or 2, its feature exists
In：Described unified time base is the inside crystal oscillator of signal processor.
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| CN105222718B (en) * | 2015-09-21 | 2017-05-17 | 天津大学 | Dynamic coordinate measurement multi-station data synchronization method for workshop measurement positioning system (wMPS) network |
| CN105807258B (en) * | 2016-05-25 | 2018-11-20 | 赵锦秋 | 3-D positioning method and system |
| EP3264039A1 (en) * | 2016-06-30 | 2018-01-03 | HILTI Aktiengesellschaft | Method for comparing a laser beam hitting a laser recipient with a rotating laser beam |
| CN106526539B (en) * | 2016-11-25 | 2023-12-08 | 北京凌宇智控科技有限公司 | Positioning base station, positioning system and positioning method |
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| CN107144273B (en) * | 2017-06-06 | 2018-05-22 | 天津大学 | Indoor measurement positioning system base station posture automatic compensating method based on inclination angle sensing |
| CN107270814B (en) * | 2017-07-12 | 2020-05-26 | 中国人民解放军63926部队 | Prefabricated wind tunnel high-precision installation control method |
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| CN109405826B (en) * | 2018-11-16 | 2020-12-29 | 北京兆维电子(集团)有限责任公司 | Robot positioning method and system |
| CN113358103B (en) * | 2021-04-25 | 2023-06-09 | 西安交通大学 | Distributed measurement architecture processing method of large-scale R-LATs measurement system |
| CN114413893A (en) * | 2022-01-19 | 2022-04-29 | 天津大学 | Dynamic position and attitude synchronization measuring method integrating inertial measurement information |
| CN115062669A (en) * | 2022-06-30 | 2022-09-16 | 天津大学 | On-site coordinate measuring method, device and system and storage medium |
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