CN105627916A - Method for building tracker geographic coordinate system and measuring six degrees of freedom - Google Patents

Method for building tracker geographic coordinate system and measuring six degrees of freedom Download PDF

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CN105627916A
CN105627916A CN 201410602861 CN201410602861A CN105627916A CN 105627916 A CN105627916 A CN 105627916A CN 201410602861 CN201410602861 CN 201410602861 CN 201410602861 A CN201410602861 A CN 201410602861A CN 105627916 A CN105627916 A CN 105627916A
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coordinate system
measurement
tracker
measuring
freedom
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CN 201410602861
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CN105627916B (en )
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汪涛
赵天承
张辰松
蔡雯琳
刘柯
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北京航天计量测试技术研究所
中国运载火箭技术研究院
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Abstract

The invention belongs to the technical field of the measurement of six degrees of freedom, specifically relates to a method for building a tracker geographic coordinate system and measuring the six degrees of freedom, and aims at solving a problem that the quick arrangement and measurement are difficult to achieve in the prior art. The method comprises four steps: equipment installation, conversion point arrangement, calculation of transformation relation of a coordinate system, and measurement. The method employs three conversion points, solves the transformation relation between the coordinate systems of an electronic theodolite and a laser tracker, and builds the geographic coordinate system of the laser tracker. Three laser trackers which have a unified geographic coordinate system are combined for measurement, thereby enabling three-dimensional point measurement to be converted into the measurement of six degrees of freedom, and effectively enlarging the measurement range of six degrees of freedom. Moreover, the high-precision point measurement of the laser trackers will obtain high-precision posture output. Compared with a laser tracker one-machine posture measurement assembly (T-Mac), the method greatly improves the measurement precision and enlarges the measurement range.

Description

-种建立跟踪仪地理坐标系及六自由度测量的方法 - kind of establishment tracker geographic coordinate system and a method for measuring six degrees of freedom

技术领域 FIELD

[0001] 本发明属于六自由度测量技术领域,具体涉及一种建立跟踪仪地理坐标系及六自由度测量的方法。 [0001] The present invention belongs to the technical field measuring six degrees of freedom, particularly relates to a tracker and a geographic coordinate system to establish a method for measuring six degrees of freedom.

背景技术 Background technique

[000引目前,六自由度测量,主要是建立在仪器测量坐标系的基础之上,比较成熟的专业测量设备有Leica、Faro等生产的激光跟踪仪。 [000 cited Currently, measuring six degrees of freedom, the main instrument is based on the measurement of the coordinate system, more mature professional measuring equipment Leica, Faro laser tracker and other production. W Leica最新的AT901型号为例,其六自由度测量范围为9m,点位测量范围为80m,但无法直接建立地理坐标系。 W Leica AT901 model the latest example, the six degrees of freedom measurement range of 9m, point level measurement range of 80m, but can not establish a geographic coordinate system directly.

[0003] 建立地理坐标系,需要通过带经缔仪的寻北仪,或已知地理方位的经缔仪,并测量引入当地地理姿态。 [0003] establishing a geographic coordinate system, required by north finder device associated with the warp, or by a known geographic location associated meter to measure the attitude introducing local geography. 查询文献可知,已有的结合电子经缔仪建立跟踪仪地理坐标系的方法, 是通过4个转换点,需要将其分为两组,在布设转换点时,分别与电子经缔仪仪器原点共铅垂面,即4个转换点与经缔仪原点共5个点处于两个铅垂的扇面内。 Query document found, the existing combined electronic instrument established by the associated geographic coordinate system tracker method, conversion by four points, it needs to be divided into two groups, when laid switching point, respectively, via associated electronics origin Instrument common vertical plane, i.e., four transition points associated with the meter via a total of five points in the origin of the two fan plumb. 此方法需要在布设其中转换点时精确控制位置,较难W实现快速布设测量。 This method requires at the switching point where precise control layout position, W is difficult to achieve rapid measurement layout.

发明内容 SUMMARY

[0004] 本发明的目的在于解决现有技术难W实现快速布设测量的问题,提供一种建立跟踪仪地理坐标系及六自由度测量的方法。 [0004] The object of the present invention is to solve the prior art is difficult to achieve rapid W layout measurement problems, there is provided a tracker and a geographic coordinate system established method for measuring six degrees of freedom.

[0005] 本发明是送样实现的: [0005] The present invention is implemented to send samples:

[0006] -种建立跟踪仪地理坐标系及六自由度测量的方法,包括如下步骤: [0006] - method for establishing a geographic coordinate system and tracker measuring six degrees of freedom species, comprising the steps of:

[0007] 第一步:设备安装; [0007] Step: installation;

[0008] 第二步;转换点布置; [0008] The second step; conversion point arrangement;

[0009] 第Η步:计算坐标系转换关系; [0009] Step Η of: calculating coordinate conversion relation;

[0010] 第四步;测量。 [0010] The fourth step; measurement.

[0011] 如上所述设备安装步骤,架设电子经缔仪,调整电子经缔仪仪器水平,光轴指向方位值为实际地理方位;若无方位基准,后续测量的方位零位为电子经缔仪的方位零位;架设3台跟踪仪,架设时应满足;环绕被测对象,对应与A、B、C Η个被测点通视;处于量程内; 设备地基稳定,开始测量后位置固定。 [0011] installation step described above, by associating the electronic device to set up, adjust the level by the associated electronic Instrument, the actual value of the orientation of the optical axis point to a geographic position; without reference azimuth, the azimuth is zero subsequent measurements associated electronic device via zero azimuth; erection of three tracker should satisfy erection; surround the measured object, corresponding to a, B, C Η pass, as a measured point; to be within the range; stable ground equipment, measurement is started after a fixed position.

[0012] 如上所述的转换点布置步骤,布设Η个转换点的祀球基座,Η个转换点Τι、Τ2、Τ3布置到电子经缔仪的四周,同时被3台激光跟踪仪和电子经缔仪观测。 [0012] transition point disposed above step, [eta] laid switching points of the ball Si base, [eta] switching points Τι, Τ2, Τ3 disposed to the sides by associated electronic meter, while being three electron laser tracker and by association oBSERVED.

[0013] 如上所述的计算坐标系转换关系步骤,依次在每一个转换点放置祀球,电子经缔仪与激光跟踪仪同时测量祀球并记录测量数据,其中电子经缔仪记录矢量万[、ΐζ、ΐζ的方位角与俯仰角,激光跟踪仪记录Τι、Τ2、Τ3在G-XYZ直角坐标系的坐标; 根据激光跟踪仪测量数据,计算出3个转换点之间的距离,再结合电子经缔仪的测量数据, 解算Τι、了2、了3在J-ENU地理坐标系的坐标,计算得到GX^坐标系与J-ENU坐标系之间的转换关系。 [0013] The coordinate conversion relationship calculating step as described above, are sequentially placed in each switching point Si ball, and the electronic instrument through the associated laser tracker ball Si and simultaneously measuring the measurement data, wherein the electronic recording device via the associated vector Wan [ , ΐζ, ΐζ azimuth and elevation angle, a recording laser tracker Τι, Τ2, Τ3 G-XYZ coordinates in the rectangular coordinate system; laser tracker measurement data, calculate the distance between the switching points, combined with associated measurement data by the electronic instrument, the resolver Τι, 2, 3 in the J-ENU coordinates of the geographic coordinate system, the relationship between the calculated conversion GX ^ J-ENU coordinate system and the coordinate system.

[0014] 如上所述的测量步骤,在被测对象上的A、B、C Η个测量点放置跟踪仪测量祀球, Η台激光跟踪仪分别测量其中一个点,并记录同一时刻测量数据,将测量数据转换到统一的地理坐标系中,解算Η个的测量点所构成的0-xyz目标坐标系位置与姿态,即完成被测目标地理坐标系下的六自由度测量。 [0014] The measuring step described above, A in the object to be measured, B, C Η measuring points placed tracker ball measurements Si, [eta] laser tracker wherein a point were measured, and the measured data recorded at a time, converting the measured data into a unified geographic coordinate system, the resolver Η 0-xyz coordinate system the target posture and position of a measuring point formed, i.e., the completion of six degrees of freedom of the measured object measured at a geographic coordinate system.

[0015] 本发明的有益效果在于: [0015] Advantageous effects of the present invention:

[0016] 本发明涉及一种建立跟踪仪地理坐标系及六自由度测量的方法,利用3个转换点,求解电子经缔仪与激光跟踪仪仪器坐标系之间的转换关系,建立激光跟踪仪的地理坐标系。 [0016] The present invention relates to a tracker and a geographic coordinate system established method for measuring six degrees of freedom, using three switching point, solving the conversion between the electronic device through association with the laser tracker instrument coordinate system, the establishment of a laser tracker the geographic coordinate system. 3台建立统一地理系的激光跟踪仪组合测量,将Η维点位测量转换为六自由度测量, 有效地提高六自由度测量范围,而激光跟踪仪的高精度点位测量将得到高精度的姿态输出,相比激光跟踪仪的单机姿态测量组件(如T-Mac),在测量精度与测量范围上有大幅度提局。 A unified three geographic-based laser tracker combined measurement, converting Η-dimensional six degrees of freedom for the measurement point measurement, effectively improve the six degrees of freedom measurement range, high accuracy measurement point the laser tracker obtained with high precision attitude output, compared to a single laser tracker attitude measurement component (e.g., T-Mac), provide a substantial Bureau on measurement accuracy and the measurement range.

附图说明 BRIEF DESCRIPTION

[0017] 图1是本发明的一种建立跟踪仪地理坐标系及六自由度测量的方法的流程图; [0017] FIG. 1 is a flowchart tracker geographic coordinate system and method for measuring six degrees of freedom for establishing the present invention;

[0018] 图2是图1中设备安装步骤中的跟踪仪、电子经缔仪、转换点坐标轴系示意图; [0018] FIG. 2 is a step in the installation of FIG. 1 tracker, by associating the electronic device, the switching point axis system schematic;

[0019] 图3是图1测量步骤中Η台跟踪仪点位测量解算地理姿态的坐标轴系示意图。 [0019] FIG. 3 is a schematic view of shaft geographical coordinates posture measuring step 1 in FIG Η station measurement point tracker solver.

具体实施方式 Detailed ways

[0020] 下面结合附图和具体实施例对本发明的一种建立跟踪仪地理坐标系及六自由度测量的方法进行描述: [0020] The following method of Example tracker establishing a geographic coordinate system and measuring six degrees of freedom to one of the invention embodiments described in the drawings and specific binding:

[0021] 如图1所示,一种建立跟踪仪地理坐标系及六自由度测量的方法,包括如下步骤: [0021] As shown, a method for establishing a geographic coordinate system and tracker measured six degrees of freedom 1, comprising the steps of:

[0022] 第一步:设备安装; [0022] Step: installation;

[0023] 架设电子经缔仪,调整电子经缔仪仪器水平,光轴指向方位值为实际地理方位;若无方位基准,后续测量的方位零位为电子经缔仪的方位零位;架设3台跟踪仪,架设时应满足;环绕被测对象,对应与A、B、CH个被测点通视;处于量程内;设备地基稳定,开始测量后位置固定。 [0023] erection by associated electronic device, the electronic level adjustment by the associated Instrument, the actual value of the optical axis azimuth pointing geographical position; without reference orientation, the orientation of the subsequent zero zero azimuth measured by the associated electronic instrument; erection 3 tracker station, should meet the erection; surround the measured object, corresponding to A, B, CH depending on a measured point; is within the range; stable foundation device, measurement is started after a fixed position.

[0024] 第二步带换点布置; [0024] Step band switching point is arranged;

[0025] 布设Η个转换点的祀球基座,如图2中Tl、T2、T3,H个转换点布置到电子经缔仪的四周,同时被3台激光跟踪仪和电子经缔仪观测。 [0025] laid Η switching points of the ball Si base, as shown in Tl, T2, T3, H switching points are arranged to the sides by the associated meter electronics while being three by the laser tracker and associated electronic OBSERVED .

[0026] 第Η步:计算坐标系转换关系; [0026] Step Η of: calculating coordinate conversion relation;

[0027] 依次在每一个转换点放置祀球,电子经缔仪与激光跟踪仪同时测量祀球并记录测量数据,其中电子经缔仪记录矢量ΐ^、万^的方位角与俯仰角,激光跟踪仪记录Τι、Τ2、Τ3在G-XYZ直角坐标系的坐标;根据激光跟踪仪测量数据,采用现有技术计算出3个转换点之间的距离,再结合电子经缔仪的测量数据,采用现有技术解算Τι、Τ2、Τ3在J-ENU地理坐标系的坐标,计算得到G-XYZ坐标系与J-ENU坐标系之间的转换关系。 [0027] are sequentially placed in each switching point Si ball, and the electronic instrument through the associated laser tracker ball Si and simultaneously measuring the measurement data, wherein the electronic recording device via the associated vector ΐ ^, ^ Wan azimuth and elevation angle, laser light tracker record Τι, Τ2, Τ3 G-XYZ coordinates in the rectangular coordinate system; laser tracker measurement data, calculated using the prior art the distance between the switching points, combined with the measurement data associated by the electronic instrument, using prior art resolver Τι, Τ2, Τ3 J-ENU coordinate geographic coordinate system, the relationship between the calculated conversion G-XYZ coordinate system with the J-ENU coordinate system.

[0028] 第四步;测量; [0028] The fourth step; measurement;

[0029] 如图3所示,在被测对象上的A、B、C Η个测量点放置跟踪仪测量祀球,Η台激光跟踪仪分别测量其中一个点,并记录同一时刻测量数据,将测量数据转换到统一的地理坐标系中,采用现有技术解算Η个的测量点所构成的0-xyz目标坐标系位置与姿态,即完成被测目标地理坐标系下的六自由度测量。 [0029] 3, A on the object to be measured, B, C Η measuring points placed tracker ball measurements Si, [eta] laser tracker wherein a point were measured, and measurement data is recorded in the same time, the converting the measured data into a unified geographic coordinate system, using the prior art resolver Η 0-xyz coordinate system the target posture and position of a measuring point formed, i.e., the completion of six degrees of freedom of the measured object measured at a geographic coordinate system.

[0030]本发明采用转换点布置、计算坐标系转换关系和测量Η个步骤,使用3个非共线的转换点、1台电子经缔仪,实现跟踪仪测量坐标系向地理坐标系的转换。 [0030] The present invention uses conversion point arrangement calculated coordinate conversion relationship and measuring Η steps, using three switching point non-collinear, 1 electronic was associated instrument, to achieve the conversion tracker measurement coordinate system to a geographical coordinate system . 3台建立统一地理系的激光跟踪仪组合测量,将Η维点位测量转换为六自由度测量,有效地提高六自由度测量范围,而激光跟踪仪的高精度点位测量将得到高精度的姿态输出,相比激光跟踪仪的单机姿态测量组件(如T-Mac),在测量精度与测量范围上有大幅度提高。 A unified three geographic-based laser tracker combined measurement, converting Η-dimensional six degrees of freedom for the measurement point measurement, effectively improve the six degrees of freedom measurement range, high accuracy measurement point the laser tracker obtained with high precision attitude output, compared to a single laser tracker attitude measurement component (e.g., T-Mac), has greatly improved in the measurement accuracy and measurement range. 将3台跟踪仪使用相同方法建立地理坐标系后,进行组合测量,可W将9m六自由度测量范围扩展到80m。 After three tracker geographic coordinate system established using the same method for combined measurement, W can be extended to the measurement range of six degrees of freedom 9m 80m.

Claims (5)

  1. 1. 一种建立跟踪仪地理坐标系及六自由度测量的方法,包括如下步骤: 第一步:设备安装; 第二步:转换点布置; 第三步:计算坐标系转换关系; 第四步:测量。 A geographic coordinate system tracker method for measuring six degrees of freedom and the establishment, comprising the steps of: first step: installation; Step: converting the dot arrangement; Third step: calculation of coordinate conversion relation; a fourth step :measuring.
  2. 2. 根据权利要求1所述的一种建立跟踪仪地理坐标系及六自由度测量的方法,其特征在于:所述设备安装步骤,架设电子经纬仪,调整电子经纬仪仪器水平,光轴指向方位值为实际地理方位;若无方位基准,后续测量的方位零位为电子经纬仪的方位零位;架设3台跟踪仪,架设时应满足:环绕被测对象,对应与A、B、C三个被测点通视;处于量程内;设备地基稳定,开始测量后位置固定。 The establishment of one of the tracker 1, the geographic coordinate system and method for measuring six degrees of freedom as claimed in claim, wherein: said installation step, set up electronic theodolite, electronic theodolite level adjusting device, the optical axis azimuth values ​​point the actual geographic location; without reference orientation, the orientation of the subsequent zero zero azimuth measurement electronic theodolite; erection of three tracker should be set up to meet: surround the measured object, corresponding to a, B, C are three Visibility measuring point; it is within the range; stable ground equipment, measurement is started after a fixed position.
  3. 3. 根据权利要求1述的一种建立跟踪仪地理坐标系及六自由度测量的方法,其特征在于:所述的转换点布置步骤,布设三个转换点的靶球基座,三个转换点Ί\、T 2、T3布置到电子经纬仪的四周,同时被3台激光跟踪仪和电子经纬仪观测。 1 according to a tracker said geographic coordinate system and method for measuring six degrees of freedom to establish, as claimed in claim wherein: said step of converting dot arrangement, switching point layout three target base ball, three conversion point Ί \, T 2, T3 is arranged in the electronic theodolite to four weeks, while being three laser tracker and electronic theodolite observations.
  4. 4. 根据权利要求1述的一种建立跟踪仪地理坐标系及六自由度测量的方法,其特征在于:所述的计算坐标系转换关系步骤,依次在每一个转换点放置靶球,电子经纬仪与激光跟踪仪同时测量靶球并记录测量数据,其中电子经纬仪记录矢量;i、Η的方位角与俯仰角,激光跟踪仪记录Τ2、Τ3在G-XYZ直角坐标系的坐标;根据激光跟踪仪测量数据,计算出3个转换点之间的距离,再结合电子经纬仪的测量数据,解算Ί\、Τ2、^在了^斯地理坐标系的坐标,计算得到G-XYZ坐标系与J-ENU坐标系之间的转换关系。 A tracker geographic coordinate system and method for measuring six degrees of freedom to establish, characterized in that said according to claim 1: The coordinate conversion relationship calculating step of sequentially placing the target transition point of each ball, an electronic theodolite and simultaneously measuring the target laser tracker ball and the measurement data, wherein the electronic theodolite record vector; i, Η azimuth and elevation angle, a recording laser tracker [tau] 2, G-XYZ coordinate Τ3 in the rectangular coordinate system; laser tracker measurement data, calculate the distance between the switching points, combined with the measurement data of the electronic theodolite, solving Ί \, Τ2, ^ ^ Si geographic coordinates in a coordinate system, the calculated G-XYZ coordinate system J- conversion between the ENU coordinate system.
  5. 5. 根据权利要求1述的一种建立跟踪仪地理坐标系及六自由度测量的方法,其特征在于:所述的测量步骤,在被测对象上的A、B、C三个测量点放置跟踪仪测量靶球,三台激光跟踪仪分别测量其中一个点,并记录同一时刻测量数据,将测量数据转换到统一的地理坐标系中,解算三个的测量点所构成的Ο-xyz目标坐标系位置与姿态,即完成被测目标地理坐标系下的六自由度测量。 1 according to a tracker said geographic coordinate system and method for measuring six degrees of freedom to establish, as claimed in claim wherein: said measuring step, A on the object to be measured, B, C are placed three measurement points measuring target tracker ball, three laser tracker wherein a point were measured and recorded the same time measurement data, converts the measurement data into a unified geographic coordinate system, the resolver Ο-xyz three measurement points target composed of coordinate position and attitude, i.e. at the completion of six degrees of freedom of the measured object measured geographic coordinate system.
CN 201410602861 2014-11-02 2014-11-02 Species establish tracker geographic coordinate system and a method for measuring six degrees of freedom CN105627916B (en)

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