CN106595654A - Continuous tracking measurement method and device for laser tracking measurement system - Google Patents
Continuous tracking measurement method and device for laser tracking measurement system Download PDFInfo
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- CN106595654A CN106595654A CN201611147989.4A CN201611147989A CN106595654A CN 106595654 A CN106595654 A CN 106595654A CN 201611147989 A CN201611147989 A CN 201611147989A CN 106595654 A CN106595654 A CN 106595654A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a continuous tracking measurement method and device for a laser tracking measurement system. An inertia measurement device is introduced, fusion optimization is conducted on the laser tracking measurement value and the inertia measurement value through an optimal estimation algorithm, the optimal estimation value of the current position and posture of the inertia measurement device is obtained, and the error coefficient is estimated; if a target is kept in a locked state, the laser tracking measurement system constantly estimates and corrects the accumulative error; when a light path is interrupted and the target is lost, the inertia measurement device continues to conduct measurement according to the optimal measurement value and the error coefficient of the position and posture obtained at the moment before interruption, and the position and posture measurement values of the inertia measurement device are continuously output; according to the conversion relation between the coordinate system of the inertia measurement system and a target coordinate system, the current position of a cooperative target is calculated and fed back to the laser tracking measurement system for automatic aiming, and tracking measurement is recovered; measurement data in the light path interruption period is filled with output of the inertia measurement device. According to the continuous tracking measurement method and device for the laser tracking measurement system, the automatic tracking and positioning function in the complex field environment is achieved.
Description
Technical field
The present invention relates to precision measurement method and technical field, more particularly to a kind of laser tracking measurement system is continuously tracked
Measuring method and device.
Background technology
Laser tracking measurement system has high certainty of measurement, range coverage big (from a meter to rice up to a hundred), layout spirit
The advantages of living, easy to operate and high degree of automation, be that at present scene large-sized precision measures a most frequently used quasi-instrument.Example
Such as, laser tracker is played an important role in automobile, Aeronautics and Astronautics and other precision manufactureing fields；Total powerstation becomes
Key equipment in bridge tunnel shield and shipbuilding.Laser tracking measurement system is free by the multiple datum marks of measurement or six
Degree (6D) sensor obtains exact position and the attitude information of measured target, is large component docking and assembling, heavy construction knot
The key issues such as carrying platform dynamic tracking, the large shield machine automatic guides such as structure installation, industrial robot and mobile robot
Technical support is provided.Compared to other instruments, such measuring apparatus be particularly advantageous in that can real-time tracking measured target, it is real
Existing automatization continuously measures, and can greatly improve measurement efficiency under environment at the scene, saves manpower and time.But, its is notable
Shortcoming is that intervisibility is must assure that in measurement process, and light path does not allow to interrupt.In the continuous motor process of target, light path one
Denier is blocked and interrupts and lose target, it is impossible to continue to track, it is necessary to could continue tracking measurement after aiming at manually.Actually make
With in, frequent loss target can cause shortage of data and have a strong impact on measurement efficiency.
For this problem, each instrument manufacturing manufacturer also develops successively the function of automatic tracking lock target, makes to swash
Light tracing measurement system after target is lost can automatic searching to target position and laser beam alignment target is tracked.
But, from lose target to again capture during measurement data will lack.On the other hand, its search capability is limited (general
For 30 ° or so), and for spiral search, with certain blindness, it is difficult to which fast searching is to target in very short time.Separately
Outward, when existing on track path, the long period blocks or target speed is very fast (as industrial robot carries 6D sensors
High-speed motion) in the case of, target exceeds quickly hunting zone, and automatic tracking lock function fails.
Generally measure field environment is more complicated, and sighting condition is poor, Field Force and facility, and measured target itself position
Appearance change may be constituted during dynamic tracking blocks factor.Especially when large complicated measuring task is performed, measurement sets
For away from measured target, farther out, Field Force is numerous, command scheduling is difficult, and anyone blocks and can cause interruption, nothing in light path
Method realizes continuous measurement.On the other hand, laser tracking measurement system is weaker in Reconnaissance, Long Range ability, it is difficult to lock mesh automatically
Mark, it has to manually by laser-beam acquiring target, have a strong impact on measurement efficiency.
In a word, current laser tracking measurement system still can not the company of solution well under the conditions of the complicated measure field of environment
Continuous tracking measurement problem.Therefore, solve laser tracking measurement system in complicated site environment, itself tracking lock disabler
In the case of automatic tracking problem, disappearance measurement data can not only be filled up, and measurement efficiency can be greatly improved, realize it is complete from
Continuous tracking measurement is moved, motility and adaptability that such instrument and equipment is measured at the scene in application is improved.
The content of the invention
The invention provides a kind of laser tracking measurement system method for continuously tracking and measuring and device, the present invention by laser with
Track is measured and the measurement result unification of the kind equipment of inertia measurement two is arrived under same benchmark, and to the cumulative error of inertial measuring unit
Effectively corrected, realized automatic track and localization function under complicated site environment, it is described below：
A kind of laser tracking measurement system method for continuously tracking and measuring, the measuring method is comprised the following steps：
Inertial measuring unit measures its own position and attitude relative to initial coordinate system according to itself update algorithm；
Laser tracking measurement system measures cooperation target, and is converted to inertial measuring unit relative to first by coordinate system
The position of beginning coordinate system and attitude；
Fusion optimization is carried out to two measured values using optimal estimation algorithm, inertial measuring unit current location and appearance is obtained
The optimal estimation value of state, and estimate the error coefficient of inertial measuring unit；
If target keeps lock-out state, laser tracking measurement system constantly to estimate and correct the accumulation mistake of inertial measuring unit
Difference；
When light path interrupt targets are lost, inertial measuring unit is using the optimum measured value for interrupting eve position and attitude
Continue to measure with error coefficient, it is continuous to export self-position and attitude measurement value；
The transformational relation of target-based coordinate system is tied to according to inertial measuring unit coordinate, the current position of cooperation target is calculated,
And feed back to laser tracking measurement system and carry out automatic aiming, recover tracking measurement；
The measurement data of light path Interruption period between The following article is filled up in the output of inertial measuring unit.
Wherein, the measuring method also includes：
Inertial measuring unit is rigidly coupled on measured target, the coordinate system of inertial measuring unit is defined；
Cooperation target is fixed on measured target, target-based coordinate system is set up with cooperative target target self structure, and demarcated
The transformational relation of target-based coordinate system is tied to by inertial measuring unit coordinate.
Wherein, the measuring method also includes：
Inertial measuring unit initial coordinate system is defined in initial position；Define the coordinate system of laser tracking measurement system itself
For laser tracking measurement coordinate system, and demarcate the transformational relation of initial coordinate system and laser tracking measurement coordinate system.
The present invention is had no progeny in the optical path automatic capture target using inertial measuring unit auxiliary laser tracing measurement system, is related to
And method and device possess following beneficial effect：
1st, replace manual aiming mode, save the time that laser tracking measurement system recovers tracking measurement, greatly improve survey
Amount efficiency；
2nd, lose in the of short duration time that target cannot be measured in laser tracking system, the output of inertial measuring unit can be carried
For the measurement data of enough accuracy, it is ensured that the seriality and integrity of measurement result；
3rd, make laser tracking measurement system still possess automatic tracing and measuring ability in complicated measure field environment, strengthen it
Motility and adaptability in measuring at the scene.
Description of the drawings
Fig. 1 is a kind of flow chart of laser tracking measurement system method for continuously tracking and measuring；
Fig. 2 is the schematic diagram of one embodiment of measurement apparatus involved in the present invention；
In figure：101：One exemplary embodiments --- the laser tracker of laser tracking measurement system；102：Cooperation target
A kind of embodiment --- 6D sensors；103：Inertial Measurement Unit；104：Industrial robot.
Fig. 3 is the schematic diagram of measuring method involved in the present invention.
In figure：201：Pose optimal estimation value；202：Barrier；203：Pose inertia measurement value；
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below further is made to embodiment of the present invention
Ground is described in detail.
Embodiment 1
To reach above-mentioned purpose, the embodiment of the present invention is using laser tracking measurement system and the same pacing of inertial measuring unit
Amount, laser tracking measurement system breaks in the optical path, in the case of itself automatic tracking lock disabler, using inertial measuring unit
The position and attitude information for continuing autonomous measurement target supplements missing data, and feeds back to laser tracking measurement system, controls it
Realign target and be tracked measurement.
The measuring instrument of laser tracking measurement system and the class performance complement of inertial measuring unit two.Laser tracking measurement system
High-acruracy survey result can be continually and steadily exported, but it must be ensured that sighting condition.
By contrast, it is utonomous working after electricity on inertial measuring unit, not by external environment influence.But such measurement sets
It is standby to there are problems that cumulative error, integrated small size, the Inertial Measurement Unit of low cost are particularly prone to, working long hours to produce
The larger measurement error of life.On the other hand, two class measuring instruments measure respective target information, and the former measures cooperative target position,
The latter measures itself pose.
The key of the embodiment of the present invention is the measurement result unification of two kind equipments to be arrived under same benchmark, and to inertia measurement
The cumulative error of device is effectively corrected, and realizes automatic track and localization function under complicated site environment.
A kind of laser tracking measurement system method for continuously tracking and measuring, referring to Fig. 1, the measuring method is comprised the following steps：
11：Inertial measuring unit measures its own position and appearance relative to initial coordinate system according to itself update algorithm
State；Laser tracking measurement system measures cooperation target, and is converted to inertial measuring unit relative to initial seat by coordinate system
The position of mark system and attitude；
12：Fusion optimization is carried out to two measured values using optimal estimation algorithm, inertial measuring unit current location is obtained
With the optimal estimation value of attitude, and the error coefficient of inertial measuring unit is estimated；If target keeps lock-out state, laser tracking to survey
The cumulative error of inertial measuring unit is constantly estimated and corrected to amount system；
13：When light path interrupt targets are lost, inertial measuring unit is using the optimum survey for interrupting eve position and attitude
Value and error coefficient continue to measure, continuous to export self-position and attitude measurement value；
14：The transformational relation of target-based coordinate system is tied to according to inertial measuring unit coordinate, the current position of cooperation target is calculated
Putting, and feed back to laser tracking measurement system carries out automatic aiming, recovers tracking measurement；
15：The measurement data of light path Interruption period between The following article is filled up in the output of inertial measuring unit.
Wherein, before step 11, the measuring method also includes：
Inertial measuring unit is rigidly coupled on measured target, the coordinate system of inertial measuring unit is defined；
Cooperation target is fixed on measured target, target-based coordinate system is set up with cooperative target target self structure, and demarcated
The transformational relation of target-based coordinate system is tied to by inertial measuring unit coordinate.
Wherein, before step 11, the measuring method also includes：
Inertial measuring unit initial coordinate system is defined in initial position；Define the coordinate system of laser tracking measurement system itself
For laser tracking measurement coordinate system, and demarcate the transformational relation of initial coordinate system and laser tracking measurement coordinate system.
In sum, the embodiment of the present invention is arrived the measurement result unification of two kind equipments by above-mentioned steps 11- step 15
Under same benchmark, and the cumulative error to inertial measuring unit is effectively corrected, and is realized under complicated site environment from motion tracking
Positioning function.
Embodiment 2
The scheme in embodiment 1 is described in detail with reference to specific Fig. 1, Fig. 2 and Fig. 3, it is described below：
21：Inertial measuring unit is rigidly coupled on measured target, the coordinate system of inertial measuring unit is defined；
22：Cooperation target is fixed on measured target, target-based coordinate system is set up with cooperative target target self structure, and marked
The fixed transformational relation that target-based coordinate system is tied to by inertial measuring unit coordinate；
23：Before measured target setting in motion, Inertial Measurement Unit initial coordinate system is defined in initial position, it is referred to as initial
Coordinate system；The coordinate system for defining laser tracking measurement system itself is laser tracking measurement coordinate system, and demarcates initial coordinate system
With the transformational relation of laser tracking measurement coordinate system；
24：When measured target is moved, in the case where not blocking, inertial measuring unit is same with laser tracking measurement system
Pacing amount；
Wherein, inertial measuring unit according to state update algorithm (state update algorithm is known to those skilled in the art,
The embodiment of the present invention is not repeated this) measure its own position and attitude relative to initial coordinate system；Laser tracking measurement
Systematic survey cooperation target, and position and appearance of the inertial measuring unit relative to initial coordinate system is converted to by coordinate system
State；
25：Fusion optimization is carried out to two systems measured value using optimal estimation algorithm, inertial measuring unit is obtained current
Position and the optimal estimation value of attitude, and estimate the error coefficient of inertial measuring unit；If target keep lock-out state, laser with
The cumulative error of inertial measuring unit is constantly estimated and corrected to track measuring system；
Wherein, optimal estimation algorithm can be：Kalman filtering algorithm, complementary filter algorithm etc..Calculated using optimal estimation
The step of method carries out fusion optimization to measured value is known to those skilled in the art, and the embodiment of the present invention is not repeated this,
And optimal estimation algorithm is not limited, as long as the algorithm of above-mentioned functions can be realized.
26：When light path interrupt targets are lost, inertial measuring unit is using the optimum survey for interrupting eve position and attitude
Value and error coefficient continue to measure, continuous to export self-position and attitude measurement value；
Wherein, inertial measuring unit is maintained to enough accuracy through error coefficient amendment in finite time.
27：According to the transformational relation that target-based coordinate system is tied to by inertial measuring unit coordinate for obtaining, cooperation target is calculated
Current position, and feed back to laser tracking measurement system and carry out automatic aiming, recover tracking measurement；On the other hand, inertia is surveyed
The measurement data of light path Interruption period between The following article is filled up in the output of amount device.
In sum, the embodiment of the present invention is arrived the measurement result unification of two kind equipments by above-mentioned steps 21- step 27
Under same benchmark, and the cumulative error to inertial measuring unit is effectively corrected, and is realized under complicated site environment from motion tracking
Positioning function.
Embodiment 3
A kind of continuous tracking measurement device of laser tracking measurement system is embodiments provided, the measurement apparatus are used for
Implement the measuring method in embodiment 1 and 2, referring to Fig. 2 and Fig. 3.
To make purpose, technical scheme and the advantage of the embodiment of the present invention clearer, below with laser tracker to industry
Embodiment of the present invention is described further in detail as a example by robot (hereinafter referred to as robot) high speed tracking.
Robot has during high accuracy Flexible Manufacture and assembling, automatic part picking, carrying, feeding etc. to positioning precision
Strict requirements.The embodiment of the present invention can carry out high-speed and continuous tracking measurement to robot, realize its precision positioning.
The embodiment of the present invention is measured any motion carrier six degree of freedom suitable for all laser tracking measurement equipment.
The scheme in embodiment is described in detail with reference to Fig. 2 and Fig. 3, it is described below：
The laser tracking measurement system for being adopted is specially a laser tracker 101 and its attached 6D sensors 102.
The inertial measuring unit for being adopted is an Inertial Measurement Unit 103.
Inertial Measurement Unit 103 and 6D sensors 102 are all connected on the end flange of robot 104, in robot 104
Both remain and rigidly fix annexation in high speed motions.The coordinate system for defining Inertial Measurement Unit 103 is I.
The coordinate system for defining 6D sensors 102 is target-based coordinate system Q, and demarcation is tied to mesh by the coordinate of Inertial Measurement Unit 103
The spin matrix of mark coordinate systemAnd translation vector
Position of the Inertial Measurement Unit 103 under target-based coordinate system is calculated according to above-mentioned coordinate system transformational relation
Simultaneously coordinate of the origin of 6D sensors 102 under the coordinate system of Inertial Measurement Unit 103 is obtained, be denoted as
Before the setting in motion of robot 104, in initial position initial time coordinate system I of Inertial Measurement Unit 103 is defined0,
Abbreviation initial coordinate system, and demarcate the spin matrix of initial coordinate system and coordinate system T of laser tracker 101And translation vector
In the motor process of robot 104, in the case where not blocking, Inertial Measurement Unit 103 and laser tracker 101
Synchro measure.The former measures its own according to update algorithmAnd attitude matrix
The latter obtains being tied to the spin matrix of the coordinate system of laser tracker 101 by coordinates of targets by measurement 6D sensors 102Peace
The amount of shifting toAnd according to calibration result, Inertial Measurement Unit 103 is obtained relative to initial coordinate system I by coordinate transformation relation0
Position beAnd attitude matrix
By the measured value of laser tracker 101With the measured value of Inertial Measurement Unit 103Substitute into
Optimal estimation algorithm, calculates the optimal estimation value of itself pose of Inertial Measurement Unit 103Such as 201 institute in Fig. 3
Show, and estimate the error coefficient D of Inertial Measurement Unit 103*.If target keeps lock-out state, laser tracker 101 constantly to estimate
And correct the cumulative error of Inertial Measurement Unit 103.
Light is blocked by barrier 202 during tracking, and when light path interrupt targets are lost, Inertial Measurement Unit 103 is sharp
With the optimal estimation value for interrupting eveAnd error coefficient D*(-) continues to keep autonomous measurement, continuously
The measured value of output self-position and attitudeAs shown in Fig. 3 203.Inertial Measurement Unit 103 is through missing
Difference coefficient amendment, is maintained to positional precision in finite time.
According to calibration result and coordinate system transformational relation, the origin of 6D sensors 102 is calculated in the coordinate system of laser tracker 101
Under coordinate：
By the control system of the coordinates feedback of the origin of 6D sensors 102 to laser tracker 101, laser beam is on the one hand controlled
Automatic aiming target, realizes following function, and on the other hand, light path Interruption period between The following article is filled up in the output of Inertial Measurement Unit 103
Measurement data.
In sum, the measurement result unification of two kind equipments is arrived same benchmark by the embodiment of the present invention by said apparatus
Under, and the cumulative error to inertial measuring unit effectively corrected, and realizes under complicated site environment track and localization function automatically.
To the model of each device in addition to specified otherwise is done, the model of other devices is not limited the embodiment of the present invention,
As long as the device of above-mentioned functions can be completed.
It will be appreciated by those skilled in the art that accompanying drawing is the schematic diagram of a preferred embodiment, the embodiments of the present invention
Sequence number is for illustration only, does not represent the quality of embodiment.
The foregoing is only presently preferred embodiments of the present invention, not to limit the present invention, all spirit in the present invention and
Within principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (4)
1. a kind of laser tracking measurement system method for continuously tracking and measuring, it is characterised in that the measuring method includes following step
Suddenly：
Inertial measuring unit measures its own position and attitude relative to initial coordinate system according to itself update algorithm；
Laser tracking measurement system measures cooperation target, and is converted to inertial measuring unit relative to initial seat by coordinate system
The position of mark system and attitude；
Fusion optimization is carried out to laser tracking measurement value and inertia measurement value using optimal estimation algorithm, inertial measuring unit is obtained
Current location and the optimal estimation value of attitude, and estimation difference coefficient；
If target keeps lock-out state, laser tracking measurement system constantly to estimate and correct cumulative error；
When light path interrupt targets are lost, inertial measuring unit is using the optimum measured value and mistake for interrupting eve position and attitude
Difference coefficient continues to measure, continuous to export self-position and attitude measurement value；
The transformational relation of target-based coordinate system is tied to according to inertial measuring unit coordinate, the current position of cooperation target is calculated, and instead
Being fed to laser tracking measurement system carries out automatic aiming, recovers tracking measurement；
The measurement data of light path Interruption period between The following article is filled up in the output of inertial measuring unit.
2. a kind of laser tracking measurement system method for continuously tracking and measuring according to claim 1, it is characterised in that described
Measuring method also includes：
Inertial measuring unit is rigidly coupled on measured target, the coordinate system of inertial measuring unit is defined；
Cooperation target is fixed on measured target, target-based coordinate system is set up with cooperative target target self structure, and demarcated by being used to
Property measurement apparatus coordinate is tied to the transformational relation of target-based coordinate system.
3. a kind of laser tracking measurement system method for continuously tracking and measuring according to claim 1, it is characterised in that described
Measuring method also includes：
Inertial measuring unit initial coordinate system is defined in initial position；The coordinate system for defining laser tracking measurement system itself is sharp
Light tracking measurement coordinate system, and demarcate the transformational relation of initial coordinate system and laser tracking measurement coordinate system.
4. it is a kind of for implementing claim 1-3 in a kind of laser tracking measurement system described in any claim continuously track
The measurement apparatus of measuring method, it is characterised in that the measurement apparatus include：Laser tracker, 6D sensors, inertia measurement list
Unit；
Both Inertial Measurement Unit is all connected on robot end's flange with 6D sensors, in robot high speed motions
Remain and rigidly fix annexation；
In robot kinematics, in the case where not blocking, Inertial Measurement Unit and laser tracker synchro measure；
Light is blocked by barrier during tracking, and when light path interrupt targets are lost, Inertial Measurement Unit is previous using interrupting
The optimal estimation value at quarter and error coefficient continue the measured value for keeping autonomous measurement, continuous output self-position and attitude；
The coordinate of 6D sensor origins is obtained according to coordinate system transformational relation；
Inertial Measurement Unit is maintained to positional precision through error coefficient amendment, in finite time；
By the control system of the coordinates feedback to laser tracker of 6D sensor origins, laser beam automatic aiming mesh is on the one hand controlled
Mark, realizes following function, and on the other hand, the measurement data of light path Interruption period between The following article is filled up in the output of Inertial Measurement Unit.
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| CN112484722A (en) * | 2020-11-19 | 2021-03-12 | 易思维（杭州）科技有限公司 | Visual sensor global positioning method combined with inertial navigation system |
| WO2022116652A1 (en) * | 2020-12-02 | 2022-06-09 | 西安航天动力研究所 | Method for predicting structural response of liquid-propellant rocket engine to impact load |
| CN112781586A (en) * | 2020-12-29 | 2021-05-11 | 上海商汤临港智能科技有限公司 | Pose data determination method and device, electronic equipment and vehicle |
| CN112781586B (en) * | 2020-12-29 | 2022-11-04 | 上海商汤临港智能科技有限公司 | Pose data determination method and device, electronic equipment and vehicle |
| CN113218389A (en) * | 2021-05-24 | 2021-08-06 | 北京航迹科技有限公司 | Vehicle positioning method, device, storage medium and computer program product |
| CN113218389B (en) * | 2021-05-24 | 2024-05-17 | 北京航迹科技有限公司 | Vehicle positioning method, device, storage medium and computer program product |
| CN116945208A (en) * | 2023-09-19 | 2023-10-27 | 湖南固工机器人有限公司 | Robot system |
| CN116945208B (en) * | 2023-09-19 | 2023-12-15 | 湖南固工机器人有限公司 | Robot system |
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