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 PDFInfo
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- CN105627916A CN105627916A CN201410602861.7A CN201410602861A CN105627916A CN 105627916 A CN105627916 A CN 105627916A CN 201410602861 A CN201410602861 A CN 201410602861A CN 105627916 A CN105627916 A CN 105627916A
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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
Technical field
The invention belongs to six degree of freedom field of measuring technique, be specifically related to a kind of method setting up tracker geographic coordinate system and six degree of freedom measurement.
Background technology
At present, six degree of freedom is measured, and is mainly based upon on the basis of apparatus measures coordinate system, and the professional measurement device of comparative maturity has the laser tracker that Leica, Faro etc. produce. For AT901 model up-to-date for Leica, its six degree of freedom measurement ranges for 9m, and Point Measurement ranges for 80m, but cannot directly set up geographic coordinate system.
Set up geographic coordinate system, it is necessary to by the north finder with theodolite, or the theodolite in known geographic orientation, and measure the local geographical attitude of introducing. Inquiry document is known, the existing method setting up tracker geographic coordinate system in conjunction with electronic theodolite, it is by 4 transfer points, need to be classified as two groups, when laying transfer point, respectively with electronic theodolite instrument initial point vertical guide altogether, namely 4 transfer points are in the covering of the fan of two verticals totally with theodolite initial point 5 points. The method needs accurately to control position when laying wherein transfer point, it is more difficult to realize quickly laying measurement.
Summary of the invention
It is an object of the invention to solve prior art be difficult to quickly lay the problem measured, it is provided that a kind of method setting up tracker geographic coordinate system and six degree of freedom measurement.
The present invention is achieved in that
A kind of method setting up tracker geographic coordinate system and six degree of freedom measurement, comprises the steps:
The first step: equipment is installed;
Second step: transfer point is arranged;
3rd step: coordinates computed system transformational relation;
4th step: measure.
Apparatus as described above installation steps, set up electronic theodolite, adjust electronic theodolite instrument level, and it is actual geographic orientation that optical axis points to orientation values; If without azimuth reference, the orientation zero-bit that orientation zero-bit is electronic theodolite of follow-up measurement; Set up 3 trackers, should meet during erection: around measurand, corresponding and tri-measured point intervisibilities of A, B, C; It is in range; Equipment base stabilization, after starting measurement, position is fixed.
Transfer point deposition step as above, lays the target ball pedestal of three transfer points, three transfer point T1��T2��T3It is arranged into the surrounding of electronic theodolite, is observed by 3 laser trackers and electronic theodolite simultaneously.
Coordinates computed system as above transformational relation step, places target ball at each transfer point successively, and electronic theodolite and laser tracker are measured target ball simultaneously and record measurement data, wherein electronic theodolite record vectorAzimuth and the angle of pitch, laser tracker record T1��T2��T3Coordinate in G-XYZ rectangular coordinate system; According to laser tracker measurement data, calculate the distance between 3 transfer points, in conjunction with the measurement data of electronic theodolite, resolve T1��T2��T3At the coordinate of J-ENU geographic coordinate system, calculate the transformational relation obtaining between G-XYZ coordinate system and J-ENU coordinate system.
Measuring process as above, A, B, C in measurand tri-measures some placement tracker and measures target ball, three laser trackers measure one of them point respectively, and record synchronization measurement data, measurement data is transformed in unified geographic coordinate system, resolve three measure and put the O-xyz target-based coordinate system position and an attitude constituted, namely complete the six degree of freedom under measured target geographic coordinate system and measure.
The beneficial effects of the present invention is:
The present invention relates to and a kind of set up the method that tracker geographic coordinate system and six degree of freedom are measured, utilize 3 transfer points, solve the transformational relation between electronic theodolite and laser tracker instrument coordinates system, set up the geographic coordinate system of laser tracker. 3 laser tracker measurements in a closed series setting up unified Department of Geography, three-dimensional Point Measurement is converted to six degree of freedom measure, it is effectively improved six degree of freedom and measures scope, and the high accuracy Point Measurement of laser tracker will obtain the output of high-precision attitude, compare unit attitude measurement assembly (such as T-Mac) of laser tracker, certainty of measurement with measurement scope are improved largely.
Accompanying drawing explanation
Fig. 1 is the flow chart of a kind of method setting up tracker geographic coordinate system and six degree of freedom measurement of the present invention;
Fig. 2 is the tracker in equipment installation steps in Fig. 1, electronic theodolite, transfer point system of axis schematic diagram;
Fig. 3 is the system of axis schematic diagram of three geographical attitudes of tracker Point Measurement resolving in Fig. 1 measuring process.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, a kind of method setting up tracker geographic coordinate system and six degree of freedom measurement of the present invention is described:
As it is shown in figure 1, a kind of method setting up tracker geographic coordinate system and six degree of freedom measurement, comprise the steps:
The first step: equipment is installed;
Erection electronic theodolite, adjusts electronic theodolite instrument level, and it is actual geographic orientation that optical axis points to orientation values; If without azimuth reference, the orientation zero-bit that orientation zero-bit is electronic theodolite of follow-up measurement; Set up 3 trackers, should meet during erection: around measurand, corresponding and tri-measured point intervisibilities of A, B, C; It is in range; Equipment base stabilization, after starting measurement, position is fixed.
Second step: transfer point is arranged;
Lay the target ball pedestal of three transfer points, T in Fig. 21��T2��T3, three transfer points are arranged into the surrounding of electronic theodolite, are observed by 3 laser trackers and electronic theodolite simultaneously.
3rd step: coordinates computed system transformational relation;
Placing target ball at each transfer point successively, electronic theodolite and laser tracker are measured target ball simultaneously and record measurement data, wherein electronic theodolite record vectorAzimuth and the angle of pitch, laser tracker record T1��T2��T3Coordinate in G-XYZ rectangular coordinate system; According to laser tracker measurement data, adopt prior art to calculate the distance between 3 transfer points, in conjunction with the measurement data of electronic theodolite, adopt prior art to resolve T1��T2��T3At the coordinate of J-ENU geographic coordinate system, calculate the transformational relation obtaining between G-XYZ coordinate system and J-ENU coordinate system.
4th step: measure;
As shown in Figure 3, A, B, C in measurand tri-measures some placement tracker and measures target ball, three laser trackers measure one of them point respectively, and record synchronization measurement data, measurement data is transformed in unified geographic coordinate system, what adopt prior art resolving three measures O-xyz target-based coordinate system position and the attitude that point is constituted, and namely completes the six degree of freedom under measured target geographic coordinate system and measures.
The present invention adopts transfer point layout, coordinates computed system transformational relation and measures three steps, uses 3 non-colinear transfer points, 1 electronic theodolite, it is achieved the coordinate system conversion to geographic coordinate system measured by tracker. 3 laser tracker measurements in a closed series setting up unified Department of Geography, three-dimensional Point Measurement is converted to six degree of freedom measure, it is effectively improved six degree of freedom and measures scope, and the high accuracy Point Measurement of laser tracker will obtain the output of high-precision attitude, compare unit attitude measurement assembly (such as T-Mac) of laser tracker, certainty of measurement with measurement scope are improved largely. After using same procedure to set up geographic coordinate system 3 trackers, it is combined measuring, it is possible to by 9m six degree of freedom measurement range expansion to 80m.
Claims (5)
1. set up tracker geographic coordinate system and a method for six degree of freedom measurement, comprise the steps:
The first step: equipment is installed;
Second step: transfer point is arranged;
3rd step: coordinates computed system transformational relation;
4th step: measure.
2. a kind of method setting up tracker geographic coordinate system and six degree of freedom measurement according to claim 1, it is characterized in that: described equipment installation steps, erection electronic theodolite, adjusts electronic theodolite instrument level, and it is actual geographic orientation that optical axis points to orientation values; If without azimuth reference, the orientation zero-bit that orientation zero-bit is electronic theodolite of follow-up measurement; Set up 3 trackers, should meet during erection: around measurand, corresponding and tri-measured point intervisibilities of A, B, C; It is in range; Equipment base stabilization, after starting measurement, position is fixed.
3. a kind of method setting up tracker geographic coordinate system and six degree of freedom measurement stated according to claim 1, it is characterised in that: described transfer point deposition step, lay the target ball pedestal of three transfer points, three transfer point T1��T2��T3It is arranged into the surrounding of electronic theodolite, is observed by 3 laser trackers and electronic theodolite simultaneously.
4. a kind of method setting up tracker geographic coordinate system and six degree of freedom measurement stated according to claim 1, it is characterized in that: described coordinates computed system transformational relation step, target ball is placed successively at each transfer point, electronic theodolite and laser tracker are measured target ball simultaneously and record measurement data, wherein electronic theodolite record vectorAzimuth and the angle of pitch, laser tracker record T1��T2��T3Coordinate in G-XYZ rectangular coordinate system; According to laser tracker measurement data, calculate the distance between 3 transfer points, in conjunction with the measurement data of electronic theodolite, resolve T1��T2��T3At the coordinate of J-ENU geographic coordinate system, calculate the transformational relation obtaining between G-XYZ coordinate system and J-ENU coordinate system.
5. a kind of method setting up tracker geographic coordinate system and six degree of freedom measurement stated according to claim 1, it is characterized in that: described measuring process, A, B, C in measurand tri-measures some placement tracker and measures target ball, three laser trackers measure one of them point respectively, and record synchronization measurement data, measurement data is transformed in unified geographic coordinate system, resolve three measure and put the O-xyz target-based coordinate system position and an attitude constituted, namely complete the six degree of freedom under measured target geographic coordinate system and measure.
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Cited By (5)
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| CN107255442A (en) * | 2017-06-06 | 2017-10-17 | 中国葛洲坝集团勘测设计有限公司 | Large scale hydraulic generator stator based on laser tracking technology installs measuring method |
| CN107991684A (en) * | 2017-11-28 | 2018-05-04 | 长春理工大学 | GNC subsystem equipment attitude measurement system in Large Scale Space Vehicle |
| CN108413988A (en) * | 2018-03-13 | 2018-08-17 | 北京卫星环境工程研究所 | Robot end's theodolite coordinate system quick calibrating method |
| CN110262535A (en) * | 2019-06-25 | 2019-09-20 | 上海航天控制技术研究所 | A kind of automation scaling method of large scale six degree of freedom relative pose simulation precision |
| CN112033434A (en) * | 2020-07-17 | 2020-12-04 | 成都飞机工业（集团）有限责任公司 | Combined calibration method of re-entry aircraft in vertical state |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107255442A (en) * | 2017-06-06 | 2017-10-17 | 中国葛洲坝集团勘测设计有限公司 | Large scale hydraulic generator stator based on laser tracking technology installs measuring method |
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| CN112033434A (en) * | 2020-07-17 | 2020-12-04 | 成都飞机工业（集团）有限责任公司 | Combined calibration method of re-entry aircraft in vertical state |
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