CN106017433B - Three-dimensional attitude positioning method and system in microwave dark room - Google Patents

Three-dimensional attitude positioning method and system in microwave dark room Download PDF

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Publication number
CN106017433B
CN106017433B CN201610365295.1A CN201610365295A CN106017433B CN 106017433 B CN106017433 B CN 106017433B CN 201610365295 A CN201610365295 A CN 201610365295A CN 106017433 B CN106017433 B CN 106017433B
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China
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point
line
dark room
microwave dark
laser
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CN201610365295.1A
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Chinese (zh)
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CN106017433A (en
Inventor
吕鸣
孔德旺
莫崇江
李光天
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北京环境特性研究所
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Publication of CN106017433A publication Critical patent/CN106017433A/en
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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
    • 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

Abstract

The invention discloses three-dimensional attitude positioning method and system in a kind of microwave dark room, including：The datum mark of microwave dark room is determined using laser tracker；Using datum mark as origin, vertical upward direction is positive for Z axis, and preset direction establishes rectangular coordinate system for Y-axis forward direction；Vertical cross line laser transmitter is placed with top point of intersection in Z axis forward direction, in X-axis forward direction and side point of intersection placement planche cross line laser transmitter；Determine terrain surface specifications point, adjust vertical cross line laser transmitter, it is launched light projection and pass through terrain surface specifications point, be vertically oriented line by the projection mark；Planche cross line laser transmitter is adjusted using terrain surface specifications point, it is obtained and launches the side projection of light, be horizontal location line by the projection mark；The 3 d pose of target is positioned with horizontal location line by vertically oriented line.The present invention can realize that target is accurately positioned in roll, pitching, yaw three dimensions.

Description

Three-dimensional attitude positioning method and system in microwave dark room

Technical field

The present invention relates to three-dimensional attitude positioning method in electromagnetic scattering fields of measurement, more particularly to a kind of microwave dark room and it is System.

Background technology

When carrying out RCS (Radar Cross Section, radar cross section) measurements to target in microwave dark room, need Posture, the orientation of target are positioned, to ensure test result accurate and effective.In traditional rectangle darkroom, incoming wave side To and revolving table position be all to determine that target only rotates on one-dimensional turntable.Therefore, even if target practical center is with turning Smaller deviation occurs for platform center, as long as ensureing that target is integrally in the dead band range of darkroom and posture is accurate, the RCS of target is surveyed Measuring result, there will be no considerable influence.Therefore, normally only vertical direction sets one directly over target area in microwave current darkroom Platform dot laser transmitter is aligned for targeted attitude.But there is special construction and the microwave dark room of purposes for some, go out In the consideration of measurement accuracy, then need that the posture of target is accurately controlled and determined in three roll, pitching, yaw dimensions Position, determines that the level orientation of target pivot is far from being enough only by a dot laser transmitter.

Therefore, there is an urgent need for one kind to be carried out in three roll, pitching, yaw dimensions in pinpoint microwave dark room Three-dimensional attitude positioning method and system, to solve the above problems.

The content of the invention

The present invention is realized to the orienting point of target and roll using laser tracker, cross line laser transmitter, bowed The accurate marker of three dimension position lines is faced upward, yawed, the 3 d pose of target is positioned with this.

One aspect of the present invention provides three-dimensional attitude positioning method in microwave dark room, including step：

S1. according to default datum mark selection rule, the datum mark of microwave dark room is determined using laser tracker；

S2. using datum mark as origin, datum mark vertical upward direction is positive for Z axis, according to default longitudinal axis selection rule Three-dimensional cartesian coordinate system is established in definite direction for Y-axis forward direction；

S3. the positive intersection point with microwave dark room top of Z axis is labeled as vertical reference point, by X-axis forward direction and microwave dark room The intersection point of side is labeled as horizontal reference point；Vertical cross line laser transmitter is set in vertical reference point, in horizontal reference point Planche cross line laser transmitter is set；

S4. terrain surface specifications point is determined on microwave dark room ground, adjusts vertical cross line laser transmitter, launches it sharp Terrain surface specifications point is passed through in projection of the light cross hairs on ground, is vertically oriented line by the projection mark；Utilize terrain surface specifications point tune Whole planche cross line laser transmitter, obtains throwing of the laser cross-line in the microwave dark room side in X-axis negative sense of its transmitting Shadow, is horizontal location line by the projection mark；

S5. the 3 d pose of target is positioned with horizontal location line by vertically oriented line.

Preferably, the microwave dark room connects the shape of hemisphere for cylinder；And step S1 is specially：Tracked using laser The positional information of discrete point, is fitted processing to the positional information, is justified on instrument sampled measurements microwave dark room cylindrical surface The positional information and cylinder radius surface of cylinder central point, the datum mark using the central point as microwave dark room.

Preferably, step S2 is specially：Using datum mark as origin, datum mark vertical upward direction is positive for Z axis, cylindrical shaft The direction that line is directed toward microwave dark room entrance is positive for Y-axis, and three-dimensional cartesian coordinate system is established according to the right-hand rule.

Preferably, it is described that the positive intersection point with microwave dark room top of Z axis be labeled as vertical reference point, by X-axis it is positive and The intersection point of microwave dark room side is specially labeled as horizontal reference point：By (0,0, R in three-dimensional cartesian coordinate system0) point be labeled as Vertical reference point, by (R0, 0,0) point be labeled as horizontal reference point；Wherein, R0For cylinder radius surface.

Preferably, it is described that terrain surface specifications point is determined on microwave dark room ground, vertical cross line laser transmitter is adjusted, makes it Projection of the laser cross-line of transmitting on ground be specially by terrain surface specifications point：By (r, the 0 ,-h) in three-dimensional cartesian coordinate system Point, (- r, 0 ,-h) point, (0, r ,-h) point, (0 ,-r ,-h) point are used as terrain surface specifications point；Vertical cross line laser transmitter is adjusted, Make the laser cross-line that it is launched in one of two projection lines on ground by (r, 0 ,-h) point, (- r, 0 ,-h) point, another process (0, r ,-h) point, (0 ,-r ,-h) point；Wherein, point is to the height on ground on the basis of h, and r is pre-determined distance, r<(R0 2-h2)1/2。

Preferably, it is described using terrain surface specifications point adjustment planche cross line laser transmitter, obtain its laser ten launched Projection of the wordline in the microwave dark room side in X-axis negative sense be specially：Planche cross line laser transmitter is adjusted, makes its transmitting Laser cross-line one of two of the microwave dark room side in X-axis negative sense projections ground extension line by (r, 0 ,- H) point, (- r, 0 ,-h) point；The pitch angle of planche cross line laser transmitter is adjusted, is made in planche cross line laser transmitter The heart is directed toward datum mark；Obtain two projections of the laser cross-line at this time in the microwave dark room side in X-axis negative sense.

Preferably, step S5 is specially：The 3 d pose of target is adjusted, makes the graticule of target surface and vertically oriented line And/or the alignment of horizontal location line, realize the positioning of target 3 d pose.

Another aspect of the present invention provides 3 d pose alignment system in a kind of microwave dark room, and the microwave dark room connects for cylinder Connect the shape of hemisphere；And the system comprises：

Laser tracker, the positional information of discrete point on sampled measurements microwave dark room cylindrical surface, believes the position Breath is fitted processing, the positional information and cylinder radius surface of cylindrical surface central point is obtained, using the central point as microwave dark room Datum mark；

Establishment of coordinate system unit, for using datum mark as origin, datum mark vertical upward direction to be positive for Z axis, cylindrical shaft The direction that line is directed toward microwave dark room entrance is positive for Y-axis, and three-dimensional cartesian coordinate system is established according to the right-hand rule；

Reference point determination unit, for the positive intersection point with microwave dark room top of Z axis to be labeled as vertical reference point, by X The positive intersection point with microwave dark room side of axis is labeled as horizontal reference point；

Vertical cross line laser transmitter, is arranged at vertical reference point, earthward launches laser；

Vertical cross line laser transmitter, is arranged at horizontal reference point, to microwave dark room side-emitting laser；

Position line indexing unit, for determining terrain surface specifications point on microwave dark room ground, adjusts vertical cross line laser hair Emitter, makes projection of the laser cross-line that it is launched on ground pass through terrain surface specifications point, is vertically oriented line by the projection mark； Planche cross line laser transmitter is adjusted using terrain surface specifications point, obtains the laser cross-line of its transmitting in X-axis negative sense The projection of microwave dark room side, is horizontal location line by the projection mark；

Targeted attitude positioning unit, for adjusting the 3 d pose of target, makes the graticule of target surface and vertically oriented line And/or the alignment of horizontal location line, realize the positioning of target 3 d pose.

Preferably, the reference point determination unit includes：

Vertical reference point determination unit, for by (0,0, R in three-dimensional cartesian coordinate system0) put labeled as vertical reference Point；

Horizontal reference point determination unit, for by (the R in three-dimensional cartesian coordinate system0, 0,0) point be labeled as horizontal reference Point；Wherein, R0For cylinder radius surface.

Preferably, the position line indexing unit includes：

Vertically oriented wire tag unit, for by (r, 0 ,-h) point in three-dimensional cartesian coordinate system, (- r, 0 ,-h) point, (0, R ,-h) point, (0 ,-r ,-h) point be used as terrain surface specifications point；Vertical cross line laser transmitter is adjusted, the laser cross for launching it Line one of two projection lines on ground by (r, 0 ,-h) point, (- r, 0 ,-h) point, it is another by (0, r ,-h) point, (0 ,-r ,- H) point；It is vertically oriented line by two projection marks of the laser cross-line at this time on ground；

Horizontal location wire tag unit, for adjusting planche cross line laser transmitter, makes the laser cross-line of its transmitting One of two of the microwave dark room side in X-axis negative sense projections ground extension line by (r, 0 ,-h) point, (- r, 0 ,- H) point；The pitch angle of planche cross line laser transmitter is adjusted, the center of planche cross line laser transmitter is directed toward datum mark； Obtain two projections of laser cross-line at this time in the microwave dark room side in X-axis negative sense, and by two projection marks For horizontal location line；Wherein, point is to the height on ground on the basis of h, and r is pre-determined distance, r<(R0 2-h2)1/2。

As shown from the above technical solution, the present invention passes through to target bearing datum mark in microwave dark room and roll, pitching, partially The accurate marker for three dimension position lines of navigating, realizes being accurately positioned for target 3 d pose, essence is put greatly improving target While spending, the pose adjustment time is shortened, improves testing efficiency.

Brief description of the drawings

Fig. 1 is three-dimensional attitude positioning method schematic diagram in the microwave dark room of the present invention；

Fig. 2 is the cross line laser transmitter perspective view of the embodiment of the present invention；

Fig. 3 is 3 d pose alignment system schematic diagram in the microwave dark room of the present invention.

Embodiment

For the objects, technical solutions and advantages of the present invention are more clearly understood, referring to the drawings and preferred reality is enumerated Example is applied, the present invention is described in more detail.However, it is necessary to illustrate, many details listed in specification are only to be Reader is set to have a thorough explanation to the one or more aspects of the present invention, even without these specific details can also Realize the aspects of the invention.

The present inventor can not be in horizontal stroke in view of the existing microwave dark room localization method based on dot laser transmitter Rolling, pitching, be controlled and position in three dimensions of yaw, it is difficult to has the function of the micro- of special construction and purposes for some Ripple darkroom, therefore use cross line laser transmitter to replace single-point laser transmitter to provide the posture in addition to direction reference information Reference information.

The present invention determines the locus of orienting point first by laser tracker, it is then determined that datum mark is in darkroom The subpoint of top vertical and the subpoint perpendicular to side wall horizontal direction, this 2 points are respectively vertical reference point and water Flat reference point.A cross line laser transmitter is respectively placed at two reference points, by adjusting its center alignment fiducials point is made, And laser rays projection it is orthogonal or overlap.In this way, by two groups of cross line laser transmitters, in mark reference point location While, also it is projected out three axis using datum mark as the rectangular coordinate system of origin.Using these information, tester is putting Its posture can accurately be adjusted during target.

Fig. 1 shows three-dimensional attitude positioning method in the microwave dark room of the present invention, referring to Fig. 1, three-dimensional attitude positioning method Perform in accordance with the following steps：

First, in step sl, according to default datum mark selection rule, microwave dark room is determined using laser tracker Datum mark.Said reference point selection rule is determined according to concrete application environment.

In a preferred embodiment of the invention, microwave dark room has the shape of cylinder connection hemisphere.

Applied to the microwave dark room with cylinder connection semi-spherical shape, as a preferred solution, step S1 is specially：Profit With the positional information of discrete point on laser tracker sampled measurements microwave dark room cylindrical surface, processing is fitted to positional information, Obtain the positional information and cylinder radius surface of cylindrical surface central point, the datum mark using the central point as microwave dark room.

Then, in step s 2, using datum mark as origin, datum mark vertical upward direction is positive for Z axis, according to default Three-dimensional cartesian coordinate system is established in the direction that longitudinal axis selection rule determines for Y-axis forward direction.

It is preferred that in an embodiment of the present invention, step S2 is specially：Based on laser tracker, using datum mark as origin, Datum mark vertical upward direction is positive for Z axis, and the direction that cylinder axis are directed toward microwave dark room entrance is positive for Y-axis, according to the right side Hand rule establishes three-dimensional cartesian coordinate system.

Next, in step s3, the positive intersection point with microwave dark room top of Z axis is labeled as vertical reference point, by X-axis The positive intersection point with microwave dark room side is labeled as horizontal reference point.In vertical reference point, vertical cross hairs Laser emission is set Device, planche cross line laser transmitter is set in horizontal reference point.

For the microwave dark room of cylinder connection semi-spherical shape, it is preferred that using laser tracker, by three-dimensional cartesian coordinate system In (0,0, R0) point be labeled as vertical reference point, by (R0, 0,0) point be labeled as horizontal reference point, R0For cylinder radius surface or lead Rail radius.

Then, in step s 4, terrain surface specifications point is determined on microwave dark room ground, adjusts vertical cross hairs Laser emission Device, makes projection of the laser cross-line that it is launched on ground pass through terrain surface specifications point, is vertically oriented line by the projection mark.Profit Planche cross line laser transmitter is adjusted with terrain surface specifications point, obtains the laser cross-line of its transmitting in the micro- of X-axis negative sense The projection of ripple darkroom side, is horizontal location line by the projection mark.In this way, by two groups of cross line laser transmitters, on ground Face and side mark three axis using datum mark as the rectangular coordinate system of origin, and using these information, tester is putting Its posture can accurately be adjusted during target.

In a preferred embodiment of the invention, step S4 is specially：By (r, 0 ,-h) point in three-dimensional cartesian coordinate system, (- r, 0 ,-h) point, (0, r ,-h) point, (0 ,-r ,-h) point be used as terrain surface specifications point, adjust vertical cross line laser transmitter, make its hair The laser cross-line penetrated one of two projection lines on ground by (r, 0 ,-h) point, (- r, 0 ,-h) point, it is another by (0, r ,- The projection permanent marks are vertically oriented line by h) point, (0 ,-r ,-h) point.For point to the height on ground, r is ground on the basis of above-mentioned h Face pre-determined distance, r<(R0 2-h2)1/2.Planche cross line laser transmitter is adjusted, makes the laser cross-line that it is launched in X-axis Extension line of one of two projections of the microwave dark room side of negative sense on ground passes through (r, 0 ,-h) point, (- r, 0 ,-h) point, adjustment The pitch angle of planche cross line laser transmitter, makes the center of planche cross line laser transmitter be directed toward datum mark, obtains at this time Laser cross-line in two of the microwave dark room side in X-axis negative sense projections, be horizontal location by the projection permanent marks Line.

In this way, by setting cross line laser transmitter, choosing terrain surface specifications point, it is of the invention by roll, pitching, yaw three The reference axis permanent marks of a dimension are accurately positioned in microwave dark room ground and side using to target 3 d pose.

Fig. 2 is cross line laser transmitter perspective view.In fig. 2, point on the basis of 1,2 be vertical reference point, and 3 be water Flat reference point, 4 be vertical cross line laser transmitter, and 5 be planche cross line laser transmitter, and 6 be vertically oriented line, and 7 be water Calm down bit line.

Then, in step s 5, the 3 d pose of target is positioned with horizontal location line by vertically oriented line.Compared with Goodly, step S5 is specially：The 3 d pose of target is adjusted, makes the graticule of target surface and vertically oriented line and/or level fixed Bit line aligns, and realizes the positioning of target 3 d pose.

By above step, the present invention is realized to orienting point using laser tracker, cross line laser transmitter With roll, pitching, the accurate marker for yawing three dimension position lines, the 3 d pose of target can be accurately positioned.

Fig. 3 shows 3 d pose alignment system in the microwave dark room of the present invention, referring to Fig. 3,3 d pose alignment system Applied to the microwave dark room of cylinder connection semi-spherical shape, it includes：Laser tracker 101, establishment of coordinate system unit 102, reference Point determination unit 103, vertical cross line laser transmitter 106, planche cross line laser transmitter 107, position line indexing unit 104 with targeted attitude positioning unit 105.Each several part is specifically introduced below：

Laser tracker 101, the positional information of discrete point on sampled measurements microwave dark room cylindrical surface, to positional information Processing is fitted, the positional information and cylinder radius surface of cylindrical surface central point are obtained, using the central point as microwave dark room Datum mark.

Establishment of coordinate system unit 102, for using datum mark as origin, datum mark vertical upward direction to be positive for Z axis, cylinder The direction that axis is directed toward microwave dark room entrance is positive for Y-axis, and three-dimensional cartesian coordinate system is established according to the right-hand rule.

Reference point determination unit 103, for the positive intersection point with microwave dark room top of Z axis to be labeled as vertical reference point, The positive intersection point with microwave dark room side of X-axis is labeled as horizontal reference point.

Vertical cross line laser transmitter 106, is arranged at vertical reference point, earthward launches laser.

Planche cross line laser transmitter 107, is arranged at horizontal reference point, to microwave dark room side-emitting laser.

Position line indexing unit 104, for determining terrain surface specifications point on microwave dark room ground, adjusts vertical cross line laser Transmitter, makes projection of the laser cross-line that it is launched on ground pass through terrain surface specifications point, is vertically oriented by the projection mark Line；Planche cross line laser transmitter is adjusted using terrain surface specifications point, obtains the laser cross-line of its transmitting in X-axis negative sense Microwave dark room side projection, be horizontal location line by the projection mark.

Targeted attitude positioning unit 105, for adjusting the 3 d pose of target, make the graticule of target surface with it is vertically oriented Line and/or the alignment of horizontal location line, realize the positioning of target 3 d pose.

It is preferred that in embodiments of the present invention, reference point determination unit 103 includes vertical reference point determination unit, level Reference point determination unit.Vertical reference point determination unit is used for (0,0, R in three-dimensional cartesian coordinate system0) put labeled as vertical Reference point.Horizontal reference point determination unit is used for the (R in three-dimensional cartesian coordinate system0, 0,0) point be labeled as horizontal reference point.R0 For cylinder radius surface.

As a preferred solution, position line indexing unit 104 includes vertically oriented wire tag unit, horizontal location line mark Remember unit.

Vertically oriented wire tag unit, for by (r, 0 ,-h) point in three-dimensional cartesian coordinate system, (- r, 0 ,-h) point, (0, R ,-h) point, (0 ,-r ,-h) point be used as terrain surface specifications point, adjust vertical cross line laser transmitter, make its transmitting laser cross Line one of two projection lines on ground by (r, 0 ,-h) point, (- r, 0 ,-h) point, it is another by (0, r ,-h) point, (0 ,-r ,- Two projection marks of the laser cross-line at this time on ground are vertically oriented line by h) point.

Horizontal location wire tag unit, for adjusting planche cross line laser transmitter, makes the laser cross-line of its transmitting One of two of the microwave dark room side in X-axis negative sense projections ground extension line by (r, 0 ,-h) point, (- r, 0 ,- H) point, adjusts the pitch angle of planche cross line laser transmitter, the center of planche cross line laser transmitter is directed toward datum mark, Obtain two projections of laser cross-line at this time in the microwave dark room side in X-axis negative sense, and by two projection marks For horizontal location line.

Point is to the height on ground on the basis of above-mentioned h, and r is pre-determined distance, r<(R0 2-h2)1/2。

Three-dimensional attitude positioning method and system pass through to target bearing in microwave dark room in microwave dark room provided by the invention Datum mark and roll, pitching, the accurate marker for yawing three dimension position lines, realize being accurately positioned for target 3 d pose, While greatly improving target and putting precision, the pose adjustment time is shortened, improves testing efficiency.

Can be with one of ordinary skill in the art will appreciate that realizing that all or part of step in above-described embodiment method is Relevant hardware is instructed to complete by program, which can be stored in a computer read/write memory medium, such as： ROM/RAM, magnetic disc, CD etc..

The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art For member, without departing from the principle of the present invention, some improvements and modifications can also be made, these improvements and modifications also should It is considered as protection scope of the present invention.

Claims (11)

1. three-dimensional attitude positioning method in a kind of microwave dark room, it is characterised in that including step：
S1. according to default datum mark selection rule, the datum mark of microwave dark room is determined using laser tracker；
S2. using datum mark as origin, datum mark vertical upward direction is positive for Z axis, is determined according to default longitudinal axis selection rule Direction establish three-dimensional cartesian coordinate system for Y-axis forward direction；
S3. the positive intersection point with microwave dark room top of Z axis is labeled as vertical reference point, by X-axis forward direction and microwave dark room side Intersection point be labeled as horizontal reference point；Vertical cross line laser transmitter is set in vertical reference point, is set in horizontal reference point Planche cross line laser transmitter；
S4. terrain surface specifications point is determined on microwave dark room ground, adjusts vertical cross line laser transmitter, the laser ten for launching it Terrain surface specifications point is passed through in projection of the wordline on ground, is vertically oriented line by the projection mark；Water is adjusted using terrain surface specifications point Flat cross line laser transmitter, obtains projection of the laser cross-line in the microwave dark room side in X-axis negative sense of its transmitting, will The projection mark is horizontal location line；
S5. the 3 d pose of target is positioned with horizontal location line by vertically oriented line；
Wherein, it is described that terrain surface specifications point is determined on microwave dark room ground, vertical cross line laser transmitter is adjusted, makes what it was launched Projection of the laser cross-line on ground be specially by terrain surface specifications point：By (r, 0 ,-h) point in three-dimensional cartesian coordinate system, (- R, 0 ,-h) point, (0, r ,-h) point, (0 ,-r ,-h) point be used as terrain surface specifications point；Vertical cross line laser transmitter is adjusted, makes it The laser cross-line of transmitting one of two projection lines on ground by (r, 0 ,-h) point, (- r, 0 ,-h) point, it is another by (0, R ,-h) point, (0 ,-r ,-h) point；Wherein, point is to the height on ground on the basis of h, and r is pre-determined distance, r<(R0 2-h2)1/2；
It is described to adjust planche cross line laser transmitter using terrain surface specifications point, the laser cross-line of its transmitting is obtained in X The projection of the microwave dark room side of axis negative sense is specially：Planche cross line laser transmitter is adjusted, the laser cross for launching it Line one of two of the microwave dark room side in X-axis negative sense projections ground extension line by (r, 0 ,-h) point, (- r, 0 ,-h) point；The pitch angle of planche cross line laser transmitter is adjusted, the center of planche cross line laser transmitter is directed toward benchmark Point；Obtain two projections of the laser cross-line at this time in the microwave dark room side in X-axis negative sense.
2. the method as described in claim 1, it is characterised in that the microwave dark room connects the shape of hemisphere for cylinder；And Step S1 is specially：
Using the positional information of discrete point on laser tracker sampled measurements microwave dark room cylindrical surface, the positional information is carried out Process of fitting treatment, obtains the positional information and cylinder radius surface of cylindrical surface central point, the benchmark using the central point as microwave dark room Point.
3. method as claimed in claim 2, it is characterised in that step S2 is specially：
Using datum mark as origin, datum mark vertical upward direction is positive for Z axis, and cylinder axis are directed toward the side of microwave dark room entrance To positive for Y-axis, three-dimensional cartesian coordinate system is established according to the right-hand rule.
4. method as claimed in claim 3, it is characterised in that described to mark Z axis forward direction and the intersection point on microwave dark room top For vertical reference point, it is specially labeled as horizontal reference point by the positive intersection point with microwave dark room side of X-axis：
By (0,0, R in three-dimensional cartesian coordinate system0) point be labeled as vertical reference point, by (R0, 0,0) point be labeled as horizontal reference Point；Wherein, R0For cylinder radius surface.
5. the method as described in claim 1-4 is any, it is characterised in that step S5 is specially：
The 3 d pose of target is adjusted, the graticule of target surface is alignd with vertically oriented line and/or horizontal location line, realizes mesh Mark the positioning of 3 d pose.
6. 3 d pose alignment system in a kind of microwave dark room, it is characterised in that the microwave dark room connects hemisphere for cylinder Shape；And the system comprises：
Laser tracker, the positional information of discrete point on sampled measurements microwave dark room cylindrical surface, to the positional information into Row process of fitting treatment, obtains the positional information and cylinder radius surface of cylindrical surface central point, the base using the central point as microwave dark room On schedule；
Establishment of coordinate system unit, for using datum mark as origin, datum mark vertical upward direction to be that Z axis is positive, and cylinder axis refer to It is positive for Y-axis to the direction of microwave dark room entrance, establish three-dimensional cartesian coordinate system according to the right-hand rule；
Reference point determination unit, for the positive intersection point with microwave dark room top of Z axis to be labeled as vertical reference point, by X-axis just Horizontal reference point is labeled as to the intersection point of microwave dark room side；
Vertical cross line laser transmitter, is arranged at vertical reference point, earthward launches laser；
Planche cross line laser transmitter, is arranged at horizontal reference point, to microwave dark room side-emitting laser；
Position line indexing unit, for determining terrain surface specifications point on microwave dark room ground, adjusts vertical cross line laser transmitter, Projection of the laser cross-line that it is launched on ground is passed through terrain surface specifications point, be vertically oriented line by the projection mark；Utilize Terrain surface specifications point adjusts planche cross line laser transmitter, obtains the laser cross-line of its transmitting in the microwave in X-axis negative sense The projection of darkroom side, is horizontal location line by the projection mark；
Targeted attitude positioning unit, for adjusting the 3 d pose of target, make the graticule of target surface and vertically oriented line and/or Horizontal location line aligns, and realizes the positioning of target 3 d pose；
Wherein, the position line indexing unit includes：
Vertically oriented wire tag unit, for by (r, 0 ,-h) point in three-dimensional cartesian coordinate system, (- r, 0 ,-h) point, (0, r ,- H) point, (0 ,-r ,-h) point are used as terrain surface specifications point；Vertical cross line laser transmitter is adjusted, the laser cross-line for launching it It is another by (0, r ,-h) point, (0 ,-r ,-h) in one of two projection lines on ground by (r, 0 ,-h) point, (- r, 0 ,-h) point Point；It is vertically oriented line by two projection marks of the laser cross-line at this time on ground；
Horizontal location wire tag unit, for adjusting planche cross line laser transmitter, is locating its laser cross-line launched Pass through (r, 0 ,-h) point, (- r, 0 ,-h) in extension line of one of two projections of the microwave dark room side of X-axis negative sense on ground Point；The pitch angle of planche cross line laser transmitter is adjusted, the center of planche cross line laser transmitter is directed toward datum mark；Obtain Two projections of the laser cross-line at this time in the microwave dark room side in X-axis negative sense are taken, and are by two projection marks Horizontal location line；Wherein, point is to the height on ground on the basis of h, and r is pre-determined distance, r<(R0 2-h2)1/2。
7. system as claimed in claim 6, it is characterised in that the reference point determination unit includes：
Vertical reference point determination unit, for by (0,0, R in three-dimensional cartesian coordinate system0) point be labeled as vertical reference point；
Horizontal reference point determination unit, for by (the R in three-dimensional cartesian coordinate system0, 0,0) point be labeled as horizontal reference point；Its In, R0For cylinder radius surface.
CN201610365295.1A 2016-05-27 2016-05-27 Three-dimensional attitude positioning method and system in microwave dark room CN106017433B (en)

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