CN106017433A - Three-dimensional posture positioning method and system in anechoic chamber - Google Patents
Three-dimensional posture positioning method and system in anechoic chamber Download PDFInfo
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- CN106017433A CN106017433A CN201610365295.1A CN201610365295A CN106017433A CN 106017433 A CN106017433 A CN 106017433A CN 201610365295 A CN201610365295 A CN 201610365295A CN 106017433 A CN106017433 A CN 106017433A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Radar Systems Or Details Thereof (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a three-dimensional posture positioning method and system in an anechoic chamber. The three-dimensional posture positioning method comprises the following steps: determining a datum point of the anechoic chamber by using a laser tracker; establishing a rectangular coordinate system by taking the datum point as an original point, taking the vertical upward direction as a Z axis forward direction, and taking a preset direction as a Y axis forward direction; placing a vertical reticle laser transmitter at an intersection point of the Z axis forward direction and a top end; placing a horizontal reticle laser transmitter at an intersection point of an X axis forward direction and a side surface; determining a ground feature point, adjusting the vertical reticle laser transmitter, enabling a projection of emitted light of the vertical reticle laser transmitter to pass through the ground feature point, and marking the projection as a vertical positioning line; adjusting the horizontal reticle laser transmitter by using the ground feature point, acquiring a side surface projection of emitted light of the horizontal reticle laser transmitter, and marking the projection as a horizontal positioning line; positioning the three-dimensional posture of a target by using the vertical positioning line and the horizontal positioning line. By the three-dimensional posture positioning method and system in the anechoic chamber, the target can be accurately positioned in three dimensions including rolling, pitching and yawing.
Description
Technical field
The present invention relates to electromagnetic scattering fields of measurement, particularly relate to 3 d pose location in a kind of microwave dark room
Method and system.
Background technology
Target carries out in microwave dark room RCS (Radar Cross Section, RCS) survey
During amount, the attitude to target, orientation is needed to position, to ensure test result accurate and effective.Passing
In the rectangle darkroom of system, arrival bearing and revolving table position all determine that, target is only made on one-dimensional turntable
Rotary motion.Therefore, even if there is less deviation with turntable center in target practical center, as long as ensureing mesh
Mark in entirety is in darkroom dead band range and attitude is accurate, the rcs measurement result of target would not be had relatively
Big impact.Therefore, in microwave current darkroom normally only directly over target area vertical direction one point is set
Generating laser is directed at for targeted attitude.But for some, there is the micro-of special construction, function and purposes
Ripple darkroom, for the consideration of certainty of measurement, then needs the attitude to target in roll, pitching, driftage three
Accurately control in individual dimension and position, in determining that target rotates only by a some generating laser
The level orientation of the heart is far from being enough.
Therefore, need badly one can carry out in roll, pitching, three dimensions of driftage pinpoint
Three-dimensional attitude positioning method and system in microwave dark room, to solve the problems referred to above.
Summary of the invention
The present invention utilize laser tracker, cross hairs generating laser to realize the orienting point of target and
Roll, pitching, the accurate marker of three dimension location lines of driftage, position the 3 d pose of target with this.
One aspect of the present invention provides three-dimensional attitude positioning method in microwave dark room, including step:
S1. according to the datum mark selection rule preset, laser tracker is utilized to determine the datum mark of microwave dark room；
S2. with datum mark as initial point, datum mark vertical upward direction is Z axis forward, according to the default longitudinal axis
The direction that selection rule determines is that Y-axis forward sets up three-dimensional cartesian coordinate system；
S3. the intersection point of Z axis forward Yu microwave dark room top is labeled as vertical reference point, by X-axis forward with
The intersection point of microwave dark room side is labeled as horizontal reference point；In vertical reference point, vertical cross hairs laser is set
Emitter, arranges planche cross line laser transmitter at horizontal reference point；
S4. at the microwave dark room ground point of region feature definitely, vertical cross hairs generating laser is adjusted so that it is
This projection mark, through terrain surface specifications point, is vertically oriented by the laser cross-line the launched projection on ground
Line；Utilize terrain surface specifications point to adjust planche cross line laser transmitter, obtain its laser cross-line launched
In the projection of the microwave dark room side being in X-axis negative sense, it is horizontal location line by this projection mark；
S5. the 3 d pose of target is positioned with horizontal location line by vertically oriented line.
Preferably, described microwave dark room is the shape that cylinder connects hemisphere；And step S1 is particularly as follows: profit
With the positional information of discrete point on the laser tracker sampled measurements microwave dark room face of cylinder, described position is believed
Breath is fitted processing, and obtains positional information and the face of cylinder radius of face of cylinder central point, by this central point
Datum mark as microwave dark room.
Preferably, step S2 is particularly as follows: with datum mark as initial point, datum mark vertical upward direction is Z axis
Forward, it is Y-axis forward that cylinder axis points to the direction of microwave dark room gateway, sets up according to the right-hand rule
Three-dimensional cartesian coordinate system.
Preferably, the described intersection point by Z axis forward Yu microwave dark room top is labeled as vertical reference point, will
The intersection point of X-axis forward and microwave dark room side is labeled as horizontal reference point particularly as follows: by three-dimensional rectangular coordinate
In system (0,0, R0) point be labeled as vertical reference point, by (R0, 0,0) point be labeled as level ginseng
Examination point；Wherein, R0For face of cylinder radius.
Preferably, described at the microwave dark room ground point of region feature definitely, adjust vertical cross hairs laser and send out
Emitter so that it is the projection on ground of the laser cross-line of transmitting through terrain surface specifications point particularly as follows: by three-dimensional
(r, 0 ,-h) point in rectangular coordinate system, (-r, 0 ,-h) point, (0, r ,-h) point, (0 ,-r ,-h)
Point is as terrain surface specifications point；Adjust vertical cross hairs generating laser so that it is the laser cross-line of transmitting exists
One of two projection lines on ground process (r, 0 ,-h) point, (-r, 0 ,-h) point, another process (0,
R ,-h) point, (0 ,-r ,-h) point；Wherein, on the basis of h, point is to the height on ground, and r is predeterminable range,
r<(R0 2-h2)1/2。
Preferably, described utilize terrain surface specifications point adjust planche cross line laser transmitter, obtain its launch
Laser cross-line be in X-axis negative sense microwave dark room side projection particularly as follows: adjust planche cross
Line laser transmitter so that it is the laser cross-line of transmitting is the two of the microwave dark room side being in X-axis negative sense
One of the bar projection extension line on ground is through (r, 0 ,-h) point, (-r, 0 ,-h) point；Adjustment level
The angle of pitch of cross hairs generating laser, makes the center of planche cross line laser transmitter point to datum mark；
Obtain two projections in the microwave dark room side being in X-axis negative sense of the laser cross-line now.
Preferably, step S5, particularly as follows: adjust the 3 d pose of target, makes the graticule of target surface with perpendicular
Straight location line and/or the alignment of horizontal location line, it is achieved the location of target 3 d pose.
Another aspect of the present invention provides 3 d pose alignment system in a kind of microwave dark room, described microwave dark room
The shape of hemisphere is connected for cylinder；And described system includes:
Laser tracker, the positional information of discrete point on the sampled measurements microwave dark room face of cylinder, to institute
State positional information to be fitted processing, obtain positional information and the face of cylinder radius of face of cylinder central point, will
This central point is as the datum mark of microwave dark room；
Establishment of coordinate system unit, for datum mark as initial point, datum mark vertical upward direction be Z axis just
To, it is Y-axis forward that cylinder axis points to the direction of microwave dark room gateway, sets up three according to the right-hand rule
Dimension rectangular coordinate system；
Reference point determines unit, for being labeled as vertically joining by the intersection point of Z axis forward with microwave dark room top
Examination point, is labeled as horizontal reference point by the intersection point of X-axis forward Yu microwave dark room side；
Vertically cross hairs generating laser, is arranged at vertical reference point, launches laser earthward；
Vertically cross hairs generating laser, is arranged at horizontal reference point, to microwave dark room side-emitting laser；
Location wire tag unit, at the microwave dark room ground point of region feature definitely, adjusts vertical cross
Line laser transmitter so that it is the projection on ground of the laser cross-line of transmitting, should through terrain surface specifications point
Projection mark is vertically oriented line；Utilize terrain surface specifications point to adjust planche cross line laser transmitter, obtain
Its laser cross-line launched projection in the microwave dark room side being in X-axis negative sense, by this projection mark
For horizontal location line；
Targeted attitude positioning unit, for adjusting the 3 d pose of target, makes the graticule of target surface with perpendicular
Straight location line and/or the alignment of horizontal location line, it is achieved the location of target 3 d pose.
Preferably, described reference point determines that unit includes:
Vertically reference point determines unit, for by (0,0, R in three-dimensional cartesian coordinate system0) some labelling
For vertical reference point；
Horizontal reference point determines unit, for by (the R in three-dimensional cartesian coordinate system0, 0,0) and some labelling
For horizontal reference point；Wherein, R0For face of cylinder radius.
Preferably, described location wire tag unit includes:
Vertically oriented wire tag unit, for by (r, the 0 ,-h) point in three-dimensional cartesian coordinate system, (-r,
0 ,-h) point, (0, r ,-h) point, (0 ,-r ,-h) put as terrain surface specifications point；Adjust vertical cross
Line laser transmitter so that it is one of the laser cross-line of transmitting two projection lines on ground process (r, 0,
-h) point, (-r, 0 ,-h) point, another is through (0, r ,-h) point, (0 ,-r ,-h) point；Will now
The laser cross-line two projection mark on ground are vertically oriented line；
Horizontal location wire tag unit, is used for adjusting planche cross line laser transmitter so that it is swashing of transmitting
Light cross hairs is at one of two projections of microwave dark room side the being in X-axis negative sense extension line warp on ground
Cross (r, 0 ,-h) point, (-r, 0 ,-h) point；Adjust the angle of pitch of planche cross line laser transmitter,
Datum mark is pointed at the center making planche cross line laser transmitter；Obtain laser cross-line now and be in X
Two projections of the microwave dark room side of axle negative sense, and be horizontal location line by these two projection mark；Its
In, on the basis of h, point is to the height on ground, and r is predeterminable range, r < (R0 2-h2)1/2。
As shown from the above technical solution, the present invention by microwave dark room internal object orienting point and roll,
Pitching, the accurate marker of three dimension location lines of driftage, it is achieved that being accurately positioned of target 3 d pose,
It is being greatly improved while target puts precision, is shortening the pose adjustment time, improve testing efficiency.
Accompanying drawing explanation
Fig. 1 be the present invention microwave dark room in three-dimensional attitude positioning method schematic diagram；
Fig. 2 is the cross hairs generating laser perspective view of the embodiment of the present invention；
Fig. 3 be the present invention microwave dark room in 3 d pose alignment system schematic diagram.
Detailed description of the invention
For making the purpose of the present invention, technical scheme and advantage clearer, develop simultaneously referring to the drawings
Going out preferred embodiment, the present invention is described in more detail.However, it is necessary to explanation, in description
The many details listed be only used to make reader one or more aspects of the present invention are had one thorough
Understand, the aspects of the invention can also be realized even without these specific details.
The present inventor in view of existing microwave dark room localization method based on a generating laser without
Method is controlled and positions in roll, pitching, three dimensions of driftage, it is difficult to it is special to have for some
The microwave dark room of structure, function and purposes, therefore use cross hairs generating laser to replace single-point laser to launch
Device is to provide the attitude reference information in addition to direction reference information.
The present invention determines the locus of orienting point first by laser tracker, it is then determined that benchmark
Point is at the subpoint of top, darkroom vertical and is perpendicular to the subpoint of side wall horizontal direction, and these 2 i.e.
It is respectively vertical reference point and horizontal reference point.At two reference points, respectively place a cross hairs laser send out
Emitter, by adjusting Shi Qi center alignment fiducials point, and the projection of laser rays is orthogonal or overlaps.
So, by two groups of cross hairs generating lasers, while mark reference point location, be also projected out with
Datum mark is three axles of the rectangular coordinate system of initial point.Utilizing these information, tester is putting target
Time just its attitude accurately can be adjusted.
Fig. 1 shows three-dimensional attitude positioning method in the microwave dark room of the present invention, sees Fig. 1,3 d pose
Localization method performs in accordance with the following steps:
First, in step sl, according to default datum mark selection rule, laser tracker is utilized to determine
The datum mark of microwave dark room.Said reference point selection rule determines according to concrete applied environment.
In a preferred embodiment of the invention, microwave dark room has the shape of cylinder connection hemisphere.
It is applied to that there is cylinder and connects the microwave dark room of semi-spherical shape, as a preferred version, step S1
Particularly as follows: utilize the positional information of discrete point on the laser tracker sampled measurements microwave dark room face of cylinder, right
Positional information is fitted processing, and obtains positional information and the face of cylinder radius of face of cylinder central point, should
Central point is as the datum mark of microwave dark room.
Then, in step s 2, with datum mark as initial point, datum mark vertical upward direction is Z axis forward,
The direction determined according to default longitudinal axis selection rule is that Y-axis forward sets up three-dimensional cartesian coordinate system.
It is preferred that in an embodiment of the present invention, step S2 is particularly as follows: based on laser tracker, with base
Being initial point, datum mark vertical upward direction is Z axis forward on schedule, and cylinder axis points to microwave dark room and comes in and goes out
The direction of mouth is Y-axis forward, sets up three-dimensional cartesian coordinate system according to the right-hand rule.
It follows that in step s3, it is labeled as vertically joining by the intersection point of Z axis forward with microwave dark room top
Examination point, is labeled as horizontal reference point by the intersection point of X-axis forward Yu microwave dark room side.In vertical reference point
Vertical cross hairs generating laser is set, planche cross line laser transmitter is set at horizontal reference point.
Cylinder is connected to the microwave dark room of semi-spherical shape, it is preferred that utilize laser tracker, by three-dimensional
In rectangular coordinate system (0,0, R0) point be labeled as vertical reference point, by (R0, 0,0) and some labelling
For horizontal reference point, R0For face of cylinder radius or guide rail radius.
Then, in step s 4, at the microwave dark room ground point of region feature definitely, vertical cross hairs is adjusted
Generating laser so that it is the projection on ground of the laser cross-line of transmitting is through terrain surface specifications point, by this throwing
Shadow is labeled as vertically oriented line.Utilize terrain surface specifications point to adjust planche cross line laser transmitter, obtain it
This projection mark, in the projection of the microwave dark room side being in X-axis negative sense, is by the laser cross-line launched
Horizontal location line.So, by two groups of cross hairs generating lasers, mark on ground and side with base
Being three axles of the rectangular coordinate system of initial point on schedule, utilize these information, tester is when putting target
Just its attitude accurately can be adjusted.
In a preferred embodiment of the invention, step S4 particularly as follows: by three-dimensional cartesian coordinate system (r, 0,
-h) point, (-r, 0 ,-h) point, (0, r ,-h) point, (0 ,-r ,-h) put as terrain surface specifications point,
Adjust vertical cross hairs generating laser so that it is the laser cross-line of transmitting two projection lines on ground it
Process (r, 0 ,-h) point, (-r, 0 a ,-h) point, another process (0, r ,-h) point, (0 ,-r,
-h) this projection permanent marks is vertically oriented line by point.On the basis of above-mentioned h, point arrives the height on ground, r
For ground predeterminable range, r < (R0 2-h2)1/2.Adjust planche cross line laser transmitter so that it is the laser of transmitting
Cross hairs passes through at one of two projections of microwave dark room side the being in X-axis negative sense extension line on ground
(r, 0 ,-h) point, (-r, 0 ,-h) point, adjust the angle of pitch of planche cross line laser transmitter, make
Datum mark is pointed at the center of planche cross line laser transmitter, obtains laser cross-line now and is being in X
Two projections of the microwave dark room side of axle negative sense, are horizontal location line by this projection permanent marks.
So, by arranging cross hairs generating laser, choosing terrain surface specifications point, the present invention by roll,
Pitching, driftage three dimensions coordinate axes permanent marks in microwave dark room ground and side, utilize to target
3 d pose is accurately positioned.
Fig. 2 is cross hairs generating laser perspective view.In fig. 2, point on the basis of 1,2 is vertical
Reference point, 3 is horizontal reference point, and 4 is vertical cross hairs generating laser, and 5 is planche cross line laser
Emitter, 6 is vertically oriented line, and 7 is horizontal location line.
Then, in step s 5, the 3 d pose of target is entered with horizontal location line by vertically oriented line
Row location.It is preferred that step S5 is particularly as follows: adjust the 3 d pose of target, make the graticule of target surface
Align with vertically oriented line and/or horizontal location line, it is achieved the location of target 3 d pose.
By above step, the present invention utilizes laser tracker, cross hairs generating laser to achieve the other side
Position datum mark and roll, pitching, the accurate marker of three dimension location lines of driftage, it is possible to three to target
Dimension attitude is accurately positioned.
Fig. 3 shows 3 d pose alignment system in the microwave dark room of the present invention, sees Fig. 3,3 d pose
Alignment system is applied to cylinder and connects the microwave dark room of semi-spherical shape, comprising: laser tracker 101, seat
System sets up unit 102 to mark, reference point determines unit 103, vertical cross hairs generating laser 106, level
Cross hairs generating laser 107, location wire tag unit 104 and targeted attitude positioning unit 105.Below
Each several part is specifically introduced:
Laser tracker 101, on the sampled measurements microwave dark room face of cylinder, the positional information of discrete point, right
Positional information is fitted processing, and obtains positional information and the face of cylinder radius of face of cylinder central point, should
Central point is as the datum mark of microwave dark room.
Establishment of coordinate system unit 102, for datum mark as initial point, datum mark vertical upward direction is Z
Axle forward, it is Y-axis forward that cylinder axis points to the direction of microwave dark room gateway, builds according to the right-hand rule
Vertical three-dimensional cartesian coordinate system.
Reference point determines unit 103, for being labeled as vertically by the intersection point of Z axis forward Yu microwave dark room top
Reference point, is labeled as horizontal reference point by the intersection point of X-axis forward Yu microwave dark room side.
Vertically cross hairs generating laser 106, is arranged at vertical reference point, launches laser earthward.
Planche cross line laser transmitter 107, is arranged at horizontal reference point, swashs to microwave dark room side-emitted
Light.
Location wire tag unit 104, at the microwave dark room ground point of region feature definitely, adjusts vertical ten
Wordline generating laser so that it is the projection on ground of the laser cross-line of transmitting, will through terrain surface specifications point
This projection mark is vertically oriented line；Utilize terrain surface specifications point to adjust planche cross line laser transmitter, obtain
Take its launch laser cross-line in the projection of the microwave dark room side being in X-axis negative sense, this projection is marked
It is designated as horizontal location line.
Targeted attitude positioning unit 105, for adjusting the 3 d pose of target, make the graticule of target surface with
Vertically oriented line and/or the alignment of horizontal location line, it is achieved the location of target 3 d pose.
It is preferred that in embodiments of the present invention, reference point determines that unit 103 includes that vertical reference point determines
Unit, horizontal reference point determine unit.Vertically reference point determines that unit is for by three-dimensional cartesian coordinate system
(0,0, R0) point be labeled as vertical reference point.Horizontal reference point determines that unit is for by three-dimensional right angle
(R in coordinate system0, 0,0) point be labeled as horizontal reference point.R0For face of cylinder radius.
As a preferred version, location wire tag unit 104 includes vertically oriented wire tag unit, water
Calm down bit line indexing unit.
Vertically oriented wire tag unit, for by (r, the 0 ,-h) point in three-dimensional cartesian coordinate system, (-r,
0 ,-h) point, (0, r ,-h) point, (0 ,-r ,-h) put as terrain surface specifications point, adjust vertical cross
Line laser transmitter so that it is one of the laser cross-line of transmitting two projection lines on ground process (r, 0,
-h) point, (-r, 0 ,-h) point, another is through (0, r ,-h) point, (0 ,-r ,-h) point, will now
The laser cross-line two projection mark on ground are vertically oriented line.
Horizontal location wire tag unit, is used for adjusting planche cross line laser transmitter so that it is swashing of transmitting
Light cross hairs is at one of two projections of microwave dark room side the being in X-axis negative sense extension line warp on ground
Cross (r, 0 ,-h) point, (-r, 0 ,-h) point, adjust the angle of pitch of planche cross line laser transmitter,
Datum mark is pointed at the center making planche cross line laser transmitter, obtains laser cross-line now and is being in X
Two projections of the microwave dark room side of axle negative sense, and be horizontal location line by these two projection mark.
On the basis of above-mentioned h, point is to the height on ground, and r is predeterminable range, r < (R0 2-h2)1/2。
In the microwave dark room that the present invention provides, three-dimensional attitude positioning method and system are by mesh in microwave dark room
Mark orienting point and roll, pitching, the accurate marker of three dimension location lines of driftage, it is achieved that target
Being accurately positioned of 3 d pose, is being greatly improved while target puts precision, when shortening pose adjustment
Between, improve testing efficiency.
One of ordinary skill in the art will appreciate that all or part of step realizing in above-described embodiment method
The program that can be by completes to instruct relevant hardware, and this program can be stored in a computer-readable
Take in storage medium, such as: ROM/RAM, magnetic disc, CD etc..
The above is only the preferred embodiment of the present invention, it is noted that general for the art
For logical technical staff, under the premise without departing from the principles of the invention, it is also possible to make some improvement and profit
Decorations, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (10)
1. three-dimensional attitude positioning method in a microwave dark room, it is characterised in that include step:
S1. according to the datum mark selection rule preset, laser tracker is utilized to determine the datum mark of microwave dark room；
S2. with datum mark as initial point, datum mark vertical upward direction is Z axis forward, according to the default longitudinal axis
The direction that selection rule determines is that Y-axis forward sets up three-dimensional cartesian coordinate system；
S3. the intersection point of Z axis forward Yu microwave dark room top is labeled as vertical reference point, by X-axis forward with
The intersection point of microwave dark room side is labeled as horizontal reference point；In vertical reference point, vertical cross hairs laser is set
Emitter, arranges planche cross line laser transmitter at horizontal reference point；
S4. at the microwave dark room ground point of region feature definitely, vertical cross hairs generating laser is adjusted so that it is
This projection mark, through terrain surface specifications point, is vertically oriented by the laser cross-line the launched projection on ground
Line；Utilize terrain surface specifications point to adjust planche cross line laser transmitter, obtain its laser cross-line launched
In the projection of the microwave dark room side being in X-axis negative sense, it is horizontal location line by this projection mark；
S5. the 3 d pose of target is positioned with horizontal location line by vertically oriented line.
2. the method for claim 1, it is characterised in that described microwave dark room is that cylinder connects half
The shape of ball；And step S1 particularly as follows:
Utilize the positional information of discrete point on the laser tracker sampled measurements microwave dark room face of cylinder, to described
Positional information is fitted processing, and obtains positional information and the face of cylinder radius of face of cylinder central point, should
Central point is as the datum mark of microwave dark room.
3. method as claimed in claim 2, it is characterised in that step S2 particularly as follows:
With datum mark as initial point, datum mark vertical upward direction is Z axis forward, and cylinder axis points to microwave
The direction of gateway, darkroom is Y-axis forward, sets up three-dimensional cartesian coordinate system according to the right-hand rule.
4. method as claimed in claim 3, it is characterised in that described by Z axis forward and microwave dark room
The intersection point on top is labeled as vertical reference point, and the intersection point of X-axis forward Yu microwave dark room side is labeled as water
Flat reference point particularly as follows:
By (0,0, R in three-dimensional cartesian coordinate system0) point be labeled as vertical reference point, by (R0, 0,
0) it is labeled as horizontal reference point；Wherein, R0For face of cylinder radius.
5. method as claimed in claim 4, it is characterised in that described on microwave dark room ground definitely
Region feature point, adjusts vertical cross hairs generating laser so that it is the laser cross-line of transmitting is in the throwing on ground
Shadow through terrain surface specifications point particularly as follows:
By (r, the 0 ,-h) point in three-dimensional cartesian coordinate system, (-r, 0 ,-h) point, (0, r ,-h) point,
(0 ,-r ,-h) puts as terrain surface specifications point；Adjust vertical cross hairs generating laser so that it is transmitting
One of laser cross-line two projection lines on ground pass through (r, 0 ,-h) point, (-r, 0 ,-h) point,
Another is through (0, r ,-h) point, (0 ,-r ,-h) point；Wherein, on the basis of h, point is to the height on ground,
R is predeterminable range, r < (R0 2-h2)1/2。
6. method as claimed in claim 5, it is characterised in that described utilize terrain surface specifications point to adjust water
Flat cross hairs generating laser, obtains its laser cross-line launched at the microwave dark room being in X-axis negative sense
The projection of side particularly as follows:
Adjust planche cross line laser transmitter so that it is the laser cross-line of transmitting is being in X-axis negative sense
One of two projections of microwave dark room side the extension line on ground through (r, 0 ,-h) point, (-r, 0,
-h) point；Adjust the angle of pitch of planche cross line laser transmitter, make in planche cross line laser transmitter
The heart points to datum mark；Obtain laser cross-line now in the two of the microwave dark room side being in X-axis negative sense
Bar projects.
7. the method as described in claim 1-6 is arbitrary, it is characterised in that step S5 particularly as follows:
Adjust the 3 d pose of target, make graticule and vertically oriented line and/or the horizontal location line of target surface
Alignment, it is achieved the location of target 3 d pose.
8. 3 d pose alignment system in a microwave dark room, it is characterised in that described microwave dark room is circle
Post connects the shape of hemisphere；And described system includes:
Laser tracker, the positional information of discrete point on the sampled measurements microwave dark room face of cylinder, to institute
State positional information to be fitted processing, obtain positional information and the face of cylinder radius of face of cylinder central point, will
This central point is as the datum mark of microwave dark room；
Establishment of coordinate system unit, for datum mark as initial point, datum mark vertical upward direction be Z axis just
To, it is Y-axis forward that cylinder axis points to the direction of microwave dark room gateway, sets up three according to the right-hand rule
Dimension rectangular coordinate system；
Reference point determines unit, for being labeled as vertically joining by the intersection point of Z axis forward with microwave dark room top
Examination point, is labeled as horizontal reference point by the intersection point of X-axis forward Yu microwave dark room side；
Vertically cross hairs generating laser, is arranged at vertical reference point, launches laser earthward；
Vertically cross hairs generating laser, is arranged at horizontal reference point, to microwave dark room side-emitting laser；
Location wire tag unit, at the microwave dark room ground point of region feature definitely, adjusts vertical cross
Line laser transmitter so that it is the projection on ground of the laser cross-line of transmitting, should through terrain surface specifications point
Projection mark is vertically oriented line；Utilize terrain surface specifications point to adjust planche cross line laser transmitter, obtain
Its laser cross-line launched projection in the microwave dark room side being in X-axis negative sense, by this projection mark
For horizontal location line；
Targeted attitude positioning unit, for adjusting the 3 d pose of target, makes the graticule of target surface with perpendicular
Straight location line and/or the alignment of horizontal location line, it is achieved the location of target 3 d pose.
9. system as claimed in claim 8, it is characterised in that described reference point determines that unit includes:
Vertically reference point determines unit, for by (0,0, R in three-dimensional cartesian coordinate system0) some labelling
For vertical reference point；
Horizontal reference point determines unit, for by (the R in three-dimensional cartesian coordinate system0, 0,0) and some labelling
For horizontal reference point；Wherein, R0For face of cylinder radius.
10. system as claimed in claim 9, it is characterised in that described location wire tag unit includes:
Vertically oriented wire tag unit, for by (r, the 0 ,-h) point in three-dimensional cartesian coordinate system, (-r,
0 ,-h) point, (0, r ,-h) point, (0 ,-r ,-h) put as terrain surface specifications point；Adjust vertical cross
Line laser transmitter so that it is one of the laser cross-line of transmitting two projection lines on ground process (r, 0,
-h) point, (-r, 0 ,-h) point, another is through (0, r ,-h) point, (0 ,-r ,-h) point；Will now
The laser cross-line two projection mark on ground are vertically oriented line；
Horizontal location wire tag unit, is used for adjusting planche cross line laser transmitter so that it is swashing of transmitting
Light cross hairs is at one of two projections of microwave dark room side the being in X-axis negative sense extension line warp on ground
Cross (r, 0 ,-h) point, (-r, 0 ,-h) point；Adjust the angle of pitch of planche cross line laser transmitter,
Datum mark is pointed at the center making planche cross line laser transmitter；Obtain laser cross-line now and be in X
Two projections of the microwave dark room side of axle negative sense, and be horizontal location line by these two projection mark；Its
In, on the basis of h, point is to the height on ground, and r is predeterminable range, r < (R0 2-h2)1/2。
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| CN201610365295.1A CN106017433B (en) | 2016-05-27 | 2016-05-27 | Three-dimensional attitude positioning method and system in microwave dark room |
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