CN107817003A - A kind of external parameters calibration method of distributed large scale space positioning system - Google Patents
A kind of external parameters calibration method of distributed large scale space positioning system Download PDFInfo
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- CN107817003A CN107817003A CN201610822085.0A CN201610822085A CN107817003A CN 107817003 A CN107817003 A CN 107817003A CN 201610822085 A CN201610822085 A CN 201610822085A CN 107817003 A CN107817003 A CN 107817003A
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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
Abstract
The present invention is a kind of external parameters calibration method of distributed large scale space positioning system, by solving that large scale spatial measurement system calibration process is cumbersome, the external initial parameter values of system global optimization are sensitive and the difficulties such as cost height, one kind is provided and uses two-dimensional calibrations bar, to assume that the method that virtual projection plane in front of emitter be present realizes the first demarcation of system, again with Levenberg Marquardt iteration optimizations, the method for minimizing object function realizes system global calibration.This method operating process is simple, and demarcation speed is fast, and system cost can be effectively reduced while the measuring precision and operating efficiency is improved.
Description
Technical field
The present invention relates to a kind of external parameters calibration method for distributed large scale space positioning system.Its principle is：
First to assume there is virtual projection plane in front of emitter, virtual emitter perspective projection model is established, is realized every
The first demarcation of individual demarcation unit, then with Levenberg-Marquardt iteration optimizations, the method for minimizing object function realizes system
System global calibration.
Background technology
As the assembling of the large product such as Aeronautics and Astronautics, ship and automobile part and big part Butt Assembling are determined precision
Position, the requirement of pose real-tune TT ＆ C increasingly improve, and large scale spatial digitalized measuring system and its application technology are by industrial quarters
With the extensive concern of academia.At home and abroad mainly include laser tracker using the large-scale metrology technology of comparative maturity at present
Measuring system, big visual field vision measurement system and electronic theodolite measuring system etc..
Distributed large scale space positioning system is mainly made up of multiple measurement base stations, can monitor large-scale measured object simultaneously
All parts, real-time is high, and measurement range is big, has coordinated the lance of measurement accuracy and large scale space by way of increasing base station
Shield, application prospect are extensive.Before carrying out the measurements, it is necessary to which the position established between system world coordinate system and each measurement base station is closed
System, that is, system external parameters calibration is carried out, and existing outer scaling method is usually using other subsidiary equipment, or need to increase
Additional constraint, easily increase extra error source, and operating process is cumbersome, cost is high, is unfavorable for field application.
The content of the invention
For above-mentioned the deficiencies in the prior art, present invention aims at provide a kind of distributed large scale space positioning system
External parameters calibration method, quick, the Accurate Calibration of system are realized, so as to realize that high accuracy, comprehensive large scale space are surveyed
Amount.
The used to achieve the above object technical scheme of the present invention is：
1）Two near ir lasers are installed inside emitter rotation platform, and around rotary shaft under the driving of servomotor
At the uniform velocity rotate counterclockwise, and sending two to measurement space in real time has the fan laser plane of constant cant angle and LED same
Walk optical signal, zero signal of the LED synchronizations optical signal as laser plane swing circle；
2）According to measurement space reasonable Arrangement transmitter network, each emitter sets fixed rotating speed respectively, using 2500r/min as
Starting point, every emitter increases 100r/min successively, and emitter is numbered in a counterclockwise direction；
3）Place demarcate bar, establish each emitter local Coordinate System, specific method be with two laser planes on the rotary shaft
Intersection point is coordinate origin, along emitter axial rotary under for Y-axis it is positive, with receiver on the left of 1 inswept demarcate bar of laser plane
When with the intersection of vertical Y axial plane be Z axis, and the direction to point to left side receiver is determined as Z axis forward direction by the right-hand rule
X-direction；
4）Demarcation unit is numbered, and is made with No.1 emitter coordinate system as a demarcation unit for every two emitters
For world coordinate system, data of calibration point is gathered with the demarcate bar of regular length；
5）Single demarcation unit demarcation is carried out respectively, it is assumed that a void be present perpendicular to emitter Z axis forward direction specific location
The projection plane of plan, calculates projection point coordinates of the calibration point in virtual projection plane, and model is as follows：
Wherein,：Projection point coordinates of the calibration point in virtual projection plane；
：Horizontal angle of the calibration point under emitter coordinate system；
：The angle of pitch of the calibration point under emitter coordinate system；
：Assuming thatVirtual projection plane be present in place；
6）Virtual emitter perspective projection model is established, calculates projection point coordinates of the calibration point on virtual projection plane,
And by translation transformation and scale transformation project the coordinate transform of point set, model is as follows：
With
Wherein,：The projection point coordinates in virtual projection plane obtained according to the 5th step；
：Projection point coordinates after progress coordinate transform in virtual projection plane；
：The transformation matrix of coordinates of point set；
：The coordinate scale transformation matrix of point set,,,
It is average distance of a concentration each point to image origin；
：The coordinate translation transformation matrix of point set,,It is the center-of-mass coordinate of point set；
7）Essential matrix is calculated, and decomposes essential matrix, obtains the possibility solution of spin matrix and unit translation vector, specific steps
It is as follows：
I. according to the projection point coordinates by point set coordinate transform obtained in the 6th step, design factor matrix, to demarcate unit one
Exemplified by, model is as follows：
Wherein,：Coefficient matrix；
Wherein, make in the 5th step；
：Point coordinates is projected under No.1 emitter coordinate system；
：Point coordinates is projected under No. two emitter coordinate systems；
II. singular value decomposition decomposition coefficient matrix is utilized, obtain essential matrix；
III. essential matrix is decomposed, model is as follows：
Or
Or
IV. the possibility solution of determination spin matrix and unit translation vector, model are as follows：
8）The puppet in the 7th step is rejected apart from least commitment to solve, obtain spin matrix and unit is put down using physically screening and Sampson
The unique solution of vector is moved, is comprised the following steps that：
I. physically screening：Ensure calibration point in the front of two emitters, i.e.,And；
II. Sampson is apart from least commitment：Card is in virtual perspective projection model, subpoint to EP pointWithAway from
It is as follows from minimum, model：
9）Spin matrix and the unit translation vector unique solution for screening to obtain according to the 8th step, and to demarcate pole length as constraint, really
The certainty ratio factor, obtains translation matrix, and model is as follows：
Wherein,：Scale factor；
：The theoretical length of demarcate bar；
：According to the demarcation pole length that spin matrix and unit translation vector are calculated in the 8th step；
：The unit translation vector obtained in 8th step；
：Translation matrix；
10）Calculate the spin matrix and translation matrix of each demarcation unit successively with the 4th~9 step, and it is peaceful with the spin matrix
Matrix is moved as initial value, in the method for Levenberg-Marquardt iteration optimizations, object function is minimized, obtains final
Spin matrix and translation matrix, model are as follows：
Wherein,：Demarcate bar gathered data number；
：Demarcate bar length computation value；
：Demarcate bar length ideal value；
Present invention, avoiding other subsidiary equipment are used, first assume virtual projection plane be present in front of emitter, and build
Vertical virtual emitter perspective projection model, realize that outer parameter is just demarcated with linear method, then using Levenberg-
The method of Marquardt iteration optimizations, object function is minimized, global calibration is realized with nonlinear method, solved calibrated
Journey is cumbersome and the problems such as nonlinear optimization external initial parameter value sensitivity.This invention ensures that it is global optimum to solve parameter,
And solving speed is fast, optimum results are stable, therefore ensure that system parameter calibration precision, in addition, the present invention is practical, and grasp
Make simply, to improve operating efficiency.
Brief description of the drawings
Fig. 1 is working-flow schematic diagram；
Fig. 2 is transmitter architecture schematic diagram；
Fig. 3 is emitter numbering schematic diagram；
Fig. 4 is demarcate bar structural representation；
Fig. 5 is to establish emitter coordinate system schematic diagram；
Fig. 6 is virtual emitter perspective projection model schematic.
Embodiment
The present invention is described in detail below in conjunction with the accompanying drawings.
A kind of external parameters calibration method of distributed large scale space positioning system, comprises the following steps：
1）As shown in Fig. 2 two near ir lasers are installed inside emitter rotation platform, and in the driving of servomotor
Under at the uniform velocity rotated counterclockwise around rotary shaft, and in real time to measurement space send two have constant cant angle fan lasers put down
Face and LED synchronization optical signals, zero signal of the LED synchronizations optical signal as laser plane swing circle；
2）As shown in figure 4, by taking four emitters as an example, according to measurement space reasonable Arrangement transmitter network, each emitter point
Fixed rotating speed is not set, is 2500r/min, 2600r/min, 2700r/min, 2800r/min respectively, and it is right in a counterclockwise direction
Emitter is numbered, and is No.1 emitter, No. two emitters, No. three emitters, No. four emitters respectively；
3）As shown in figure 5, placing demarcate bar in front of transmitter network, each emitter local Coordinate System is established, specific method is
Using the intersection point of two laser planes on the rotary shaft as coordinate origin, along emitter axial rotary under for Y-axis it is positive, with laser
Intersection on the left of 1 inswept demarcate bar of plane during receiver with vertical Y axial plane is Z axis, and to point to the direction of left side receiver
It is positive for Z axis, X-direction is determined by the right-hand rule；
4）Demarcation unit is numbered, using No.1 emitter coordinate system as world coordinate system, every two emitters are as one
Individual demarcation unit, it is respectively：No.1 emitter and No. two emitters are demarcation unit 1, and No.1 emitter and No. three emitters are
Unit 2, No.1 emitter and No. four emitters are demarcated as demarcation unit 3, data of calibration point is gathered with the demarcate bar of regular length；
5）Single demarcation unit demarcation is carried out respectively, it is assumed that a void be present perpendicular to emitter Z axis forward direction specific location
The projection plane of plan, calculates projection point coordinates of the calibration point in virtual projection plane, and model is as follows：
Wherein,：Projection point coordinates of the calibration point in virtual projection plane；
：Horizontal angle of the calibration point under emitter coordinate system；
：The angle of pitch of the calibration point under emitter coordinate system；
：Assuming thatVirtual projection plane be present in place；
6）As shown in fig. 6, exemplified by demarcating unit 1, virtual emitter perspective projection model is established, calculates calibration point virtual
Projection plane on projection point coordinates, and by translation transformation and scale transformation carry out project point set coordinate transform, model
It is as follows：
With
Wherein,：The projection point coordinates in virtual projection plane obtained according to the 5th step；
：Projection point coordinates after progress coordinate transform in virtual projection plane；
：The transformation matrix of coordinates of point set；
：The coordinate scale transformation matrix of point set,,,
It is average distance of a concentration each point to image origin；
：The coordinate translation transformation matrix of point set,,It is
The center-of-mass coordinate of point set；
7）Essential matrix is calculated, and decomposes essential matrix, obtains the possibility solution of spin matrix and unit translation vector, specific steps
It is as follows：
I. according to the projection point coordinates by point set coordinate transform obtained in the 6th step, design factor matrix, to demarcate unit one
Exemplified by, model is as follows：
Wherein,：Coefficient matrix；
Wherein, make in the 5th step；
：Point coordinates is projected under No.1 emitter coordinate system；
：Point coordinates is projected under No. two emitter coordinate systems；
II. singular value decomposition decomposition coefficient matrix is utilized, obtain essential matrix；
III. essential matrix is decomposed, model is as follows：
Or
Or
IV. the possibility solution of determination spin matrix and unit translation vector, model are as follows：
8）The puppet in the 7th step is rejected apart from least commitment to solve, obtain spin matrix and unit is put down using physically screening and Sampson
The unique solution of vector is moved, is comprised the following steps that：
I. physically screening：Ensure calibration point in the front of two emitters, i.e.,And；
II.Sampson is apart from least commitment：Card is in virtual perspective projection model, subpoint to EP pointWithAway from
It is as follows from minimum, model：
9）Spin matrix and the unit translation vector unique solution for screening to obtain according to the 8th step, and to demarcate pole length as constraint, really
The certainty ratio factor, obtains translation matrix, and model is as follows：
Wherein,：Scale factor；
：The theoretical length of demarcate bar；
：According to the demarcation pole length that spin matrix and unit translation vector are calculated in the 8th step；
：The unit translation vector obtained in 8th step；
：Translation matrix；
10）Calculate the spin matrix and translation matrix of each demarcation unit successively with the 4th~9 step, and it is peaceful with the spin matrix
Matrix is moved as initial value, in the method for Levenberg-Marquardt iteration optimizations, object function is minimized, obtains final
Spin matrix and translation matrix, model are as follows：
Wherein,：Demarcate bar gathered data number；
：Demarcate bar length computation value；
：Demarcate bar length ideal value.
Claims (1)
- A kind of 1. external parameters calibration method of distributed large scale space positioning system, it is characterised in that realize according to the following steps：1）Two near ir lasers are installed inside emitter rotation platform, and around rotary shaft under the driving of servomotor At the uniform velocity rotate counterclockwise, and sending two to measurement space in real time has the fan laser plane of constant cant angle and LED same Walk optical signal, zero signal of the LED synchronizations optical signal as laser plane swing circle；2）According to measurement space reasonable Arrangement transmitter network, each emitter sets fixed rotating speed respectively, using 2500r/min as Starting point, every emitter increases 100r/min successively, and emitter is numbered in a counterclockwise direction；3）Place demarcate bar, establish each emitter local Coordinate System, specific method be with two laser planes on the rotary shaft Intersection point is coordinate origin, along emitter axial rotary under for Y-axis it is positive, with receiver on the left of 1 inswept demarcate bar of laser plane When with the intersection of vertical Y axial plane be Z axis, and the direction to point to left side receiver is determined as Z axis forward direction by the right-hand rule X-direction；4）Demarcation unit is numbered, and is made with No.1 emitter coordinate system as a demarcation unit for every two emitters For world coordinate system, data of calibration point is gathered with the demarcate bar of regular length；5）Single demarcation unit demarcation is carried out respectively, it is assumed that a void be present perpendicular to emitter Z axis forward direction specific location The projection plane of plan, calculates projection point coordinates of the calibration point in virtual projection plane, and model is as follows：Wherein,：Projection point coordinates of the calibration point in virtual projection plane；：Horizontal angle of the calibration point under emitter coordinate system；：The angle of pitch of the calibration point under emitter coordinate system；：Assuming thatVirtual projection plane be present in place；6）Virtual emitter perspective projection model is established, calculates projection point coordinates of the calibration point on virtual projection plane, And by translation transformation and scale transformation project the coordinate transform of point set, model is as follows：WithWherein,：The projection point coordinates in virtual projection plane obtained according to the 5th step；：Projection point coordinates after progress coordinate transform in virtual projection plane；：The transformation matrix of coordinates of point set；：The coordinate scale transformation matrix of point set,,,It is average distance of a concentration each point to image origin；：The coordinate translation transformation matrix of point set,,It is the center-of-mass coordinate of point set；7）Essential matrix is calculated, and decomposes essential matrix, obtains the possibility solution of spin matrix and unit translation vector, specific steps It is as follows：I. according to the projection point coordinates by point set coordinate transform obtained in the 6th step, design factor matrix, to demarcate unit one Exemplified by, model is as follows：Wherein,：Coefficient matrix；Wherein, make in the 5th step；：Point coordinates is projected under No.1 emitter coordinate system；：Point coordinates is projected under No. two emitter coordinate systems；II. singular value decomposition decomposition coefficient matrix is utilized, obtain essential matrix；III. essential matrix is decomposed, model is as follows：OrOrIV. the possibility solution of determination spin matrix and unit translation vector, model are as follows：8）The puppet in the 7th step is rejected apart from least commitment to solve, obtain spin matrix and unit is put down using physically screening and Sampson The unique solution of vector is moved, is comprised the following steps that：I. physically screening：Ensure calibration point in the front of two emitters, i.e.,And；II.Sampson is apart from least commitment：Card is in virtual perspective projection model, subpoint to EP pointWithDistance Minimum, model are as follows：9）Spin matrix and the unit translation vector unique solution for screening to obtain according to the 8th step, and to demarcate pole length as constraint, really The certainty ratio factor, obtains translation matrix, and model is as follows：Wherein,：Scale factor；：The theoretical length of demarcate bar；：According to the demarcation pole length that spin matrix and unit translation vector are calculated in the 8th step；：The unit translation vector obtained in 8th step；：Translation matrix；10）Calculate the spin matrix and translation matrix of each demarcation unit successively with the 4th~9 step, and it is peaceful with the spin matrix Matrix is moved as initial value, in the method for Levenberg-Marquardt iteration optimizations, object function is minimized, obtains final Spin matrix and translation matrix, model are as follows：Wherein,：Demarcate bar gathered data number；：Demarcate bar length computation value；：Demarcate bar length ideal value.
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| CN110006459A (en) * | 2019-04-30 | 2019-07-12 | 西安交通大学 | The self-correction system and method for R-LATs measurement network under a kind of Workshop Dynamic operating environment |
| CN110654571A (en) * | 2019-11-01 | 2020-01-07 | 西安航通测控技术有限责任公司 | Nondestructive detection robot system and method for surface defects of aircraft skin |
| CN111622114A (en) * | 2020-05-08 | 2020-09-04 | 中铁大桥科学研究院有限公司 | Bridge segment prefabrication construction line shape error adjusting method |
| CN113158846A (en) * | 2021-04-06 | 2021-07-23 | 中航航空电子有限公司 | Anti-interference sight tracking method for head-mounted waveguide display device |
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| CN109884658A (en) * | 2019-03-04 | 2019-06-14 | 北京工业大学 | Laser traces instrument locating method based on laser traces instrument multistation level measuring system |
| CN109884658B (en) * | 2019-03-04 | 2020-11-27 | 北京工业大学 | Laser tracker station position method based on laser tracker multi-station position measuring system |
| CN110006459A (en) * | 2019-04-30 | 2019-07-12 | 西安交通大学 | The self-correction system and method for R-LATs measurement network under a kind of Workshop Dynamic operating environment |
| CN110654571A (en) * | 2019-11-01 | 2020-01-07 | 西安航通测控技术有限责任公司 | Nondestructive detection robot system and method for surface defects of aircraft skin |
| CN110654571B (en) * | 2019-11-01 | 2023-10-20 | 西安航通测控技术有限责任公司 | Nondestructive testing robot system and method for surface defects of aircraft skin |
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| CN111622114B (en) * | 2020-05-08 | 2021-08-10 | 中铁大桥科学研究院有限公司 | Bridge segment prefabrication construction line shape error adjusting method |
| CN113158846A (en) * | 2021-04-06 | 2021-07-23 | 中航航空电子有限公司 | Anti-interference sight tracking method for head-mounted waveguide display device |
| CN113158846B (en) * | 2021-04-06 | 2024-02-20 | 中航航空电子有限公司 | Anti-interference sight tracking method for head-mounted waveguide display device |
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