CN108225258A - Based on inertance element and laser tracker dynamic pose measuring apparatus and method - Google Patents
Based on inertance element and laser tracker dynamic pose measuring apparatus and method Download PDFInfo
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- CN108225258A CN108225258A CN201810018977.4A CN201810018977A CN108225258A CN 108225258 A CN108225258 A CN 108225258A CN 201810018977 A CN201810018977 A CN 201810018977A CN 108225258 A CN108225258 A CN 108225258A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
The present invention relates to space precise geometric measurement field, to solve the problems, such as that obliquity sensor angle measurement precision and stability when dynamic measures six degree of freedom is low in traditional laser target, improves the dynamic property of entire six degree of freedom measuring system.Thus, the present invention is based on inertance element and laser tracker dynamic pose measuring apparatus and methods, it is made of laser target and laser tracker, by vision imaging unit inside laser target, Inertial Measurement Unit, inclination angle sensing unit measuring unit and data processing unit composition, laser tracker sends out interference laser, interfere the nicked prism of corner cube on laser lock-on laser target, mirror-reflection occurs in the prism for interference laser, a part of interference light is back to laser tracker after reflection, laser tracker obtains prism of corner cube reflection kernel by the transformational relation of interfeerometry ranging principle and spherical coordinates and rectangular co-ordinate, the notch that another part light passes through prism of corner cube.Present invention is mainly applied to accurate geometric measurement occasions.
Description
Technical field
The present invention relates to space precise geometric measurement field more particularly to space object in high speed motions
Six degree of freedom measures problem in real time.Specifically, it is related to the high speed dynamic pose measurement side based on inertance element and laser tracker
Method.
Background technology
With the high speed development of science and technology, the demand of pose measurement is continuously increased.Such as in aircraft or ship assembly mistake
Cheng Zhong needs the position by monitoring each parts in real time and attitude information, control unit to be instructed to complete assembling process.Swash
Cursor target system in the common measuring system of pose fields of measurement, can measure static object under specified coordinate system as a kind of
Three coordinates and azimuth, pitch angle, roll angle.Wherein pitch angle and roll angle are relied solely at present in laser target measuring system
The obliquity sensor in portion measures.Obliquity sensor measurement result under inertial coodinate system is more stable, but is surveyed facing dynamic
When measuring scene, since measured target has certain acceleration so that obliquity sensor measures distortion under noninertial system.How
It is urgently to be resolved hurrily to realize the real-time measurement to the six degree of freedom of high-speed moving object and how to improve the versatility of measuring system
The problem of.In addition, nowadays accurate large scale mechanical manufacturing field needs to propose target six degree of freedom precision higher want
It asks.Such as in manufacturing process is machined, often coordinate processing, the accurate control to manipulator motion track using mechanical arm
System is a big guarantee of product high quality.
Invention content
In order to overcome the deficiencies of the prior art, it the present invention is directed to propose high speed dynamic pose measuring method, solves traditional to swash
In cursor target obliquity sensor angle measurement dynamic measure six degree of freedom when precision and stability it is low the problem of, improve it is entire six freely
Spend the dynamic property of measuring system.For this purpose, the technical solution adopted by the present invention is, based on inertance element and laser tracker dynamic
Pose measuring apparatus is made of laser target and laser tracker, by vision imaging unit, inertia measurement list inside laser target
Member, inclination angle sensing unit measuring unit and data processing unit composition, laser tracker send out interference laser, interfere laser lock-on
Mirror-reflection occurs in the prism for the nicked prism of corner cube on laser target, interference laser, and a part of interference light is in reflection
After be back to laser tracker, laser tracker is obtained by the transformational relation of interfeerometry ranging principle and spherical coordinates and rectangular co-ordinate
Prism of corner cube reflection kernel, another part light, by camera lens, are formed by the notch of prism of corner cube on the target surface of camera
Hot spot, laser tracker send out part interference laser by rear, and digital camera in vision imaging unit will acquire in real time
Image is sent to data processing unit, and Inertial Measurement Unit and inclination angle sensing unit measuring unit respectively constantly export itself
Angular speed and angle be sent to data processing unit, data processing unit carries out the attitude algorithm side of obtaining to collected data
Three parallactic angle, pitch angle, roll angle posture degree of freedom together with the position freedom of laser tracker output, finally obtain laser
The six degree of freedom of target.
Based on inertance element and laser tracker dynamic pose measuring method, swashed using laser tracker by track and localization
Prism of corner cube on light target obtains position coordinates of the prismatic reflection center under tracker coordinate system, from laser tracker
A part of light by camera lens, is formed hot spot on the target surface of camera, is utilized by the notch of the prism of corner cube on laser target
The light spot image acquired in real time is sent at laser tracker data by the digital camera in laser tracker vision imaging unit
Unit is managed, laser tracker Inertial Measurement Unit and inclination angle sensing unit measuring unit are respectively constantly by the angle speed of itself output
Degree and angle are sent to data processing unit, data processing unit collected data are carried out attitude algorithm obtain azimuth,
Three pitch angle, roll angle posture degree of freedom together with the position freedom of laser tracker output, finally obtain the six of laser target
Degree of freedom.
By resolving in data processing unit, position when obtaining the target moment relative to initial position and initial attitude
It puts and attitudes vibration is when determining initial attitude, current newest Eulerian angles are acquired every time by corresponding transformational relation.
Data processing comprises the concrete steps that, n systems (OnXnYnZn) it is earth coordinates, the origin of earth coordinates is established
On tracker；b(ObXbYbZb) system is carrier coordinate system, that is, itself shafting of Inertial Measurement Unit, origin be located at laser
Inertial Measurement Unit center in target,θ, ψ are respectively that b ties up to roll angle, pitch angle and azimuth under n systems, inertance element
Use strapdown inertial navigation theory carry out pose resolving when, actually seek pose of the carrier coordinate system under earth coordinates,
If q=(q0,q1,q2,q3) be and spin matrixAttitude quaternion of equal value, according to the algorithm of quaternary number derive with
Lower relationship：
WhereinFor quaternary number multiplying,Observation for gyroscope coordinate system relative to the earth
Value, above formula abbreviation are
The as quaternion differential equation of posture renewal
WhereinAcquisition carry out as the following formula
WithIt is earth rate and position rate respectively, and
In formula, VNVE, L is the last look that navigation calculates；
Card algorithm is finished using single order to quaternion differential equation：
Wherein
In formula, (△ θx,△θy,△θz) for gyroscope in sampling time [tk,tk+1] Relative Navigation coordinate system in interval
The quaternary number that update obtains so as to obtain the quaternary number that each iteration obtains, is converted into Eulerian angles form by angle increment：
When determining initial attitude, that is, determine q (t0), acquire every time current newest Eulerian angles.
During object of which movement, the data processing unit inside laser target can be according to the output of inertia sensing unit
Amount, with the indirect filtering algorithm of discrete Kalman, to the output quantity of inertia sensing unit and the output quantity of inclination angle sensing unit into
Row fusion, specifically, definition：
[φI pI]TPosture and position for Inertial Measurement Unit estimation；[φS pS]TFor laser target measure posture and
Position；[φ p]TFor true posture and position；△φSAttitude error caused by be accelerated as laser target.
The features of the present invention and advantageous effect are：
Original laser target measuring system and Inertial Measurement Unit (202) are applied in combination by designing by the present invention, are used to
The angle that property measuring unit (202) measures inclination angle sensing unit (203) is modified.In addition, the position of laser tracker (101)
It puts measurement of coordinates frequency and can reach 1000 times/second, substantially increase the six degree of freedom measurement accuracy under dynamic measuring environment and be
System stability.Simultaneity factor is simple in structure, easy for installation, is conducive to measure field use.
Description of the drawings：
Fig. 1 is the model structure schematic diagram of measuring method of the present invention；
Fig. 2 is laser target internal structure schematic diagram.
Fig. 3 is inertial navigation position orientation relation schematic diagram.
Reference numeral：101- laser trackers, 102- laser targets, 103- measured targets, 201- vision imaging units,
202- Inertial Measurement Units, 203- inclination angles sensing unit, 204- data processing units, 205- prism of corner cubes.
Specific embodiment
The present invention provides a kind of high speed dynamic pose measuring method based on inertance element and laser tracker, by inertia
The advantages that high dynamic performance of sensing unit and the high same laser target of good robustness (102) precision of measurement, combines.
It is low that the present invention solves obliquity sensor angle measurement precision and stability when dynamic measures six degree of freedom in traditional laser target
The problem of, improve the dynamic property of entire six degree of freedom measuring system.The present invention is under targeted cache movement or vibrating state
It has relatively well made up internal obliquity sensor and has measured the error that distortion is brought.
The purpose of the present invention is what is be achieved through the following technical solutions：
A kind of high speed dynamic pose measuring method based on inertance element and laser tracker, by laser target and laser with
The cooperation of track instrument (101) is realized pair and to be surveyed with the real-time dynamic of the six degree of freedom of laser target (102) rigidly connected object
Amount.Laser target (102) is internal to be surveyed by vision imaging unit (201), Inertial Measurement Unit (202), inclination angle sensing unit (203)
Measure unit and data processing unit (204) composition.
A kind of high speed dynamic pose measuring method based on inertance element and laser tracker, includes the following steps：Laser
Tracker (101) obtains prismatic reflection center in tracker coordinate system by the prism of corner cube (205) on track and localization laser target
Under position coordinates.A part of light from tracker is by the notch of prism of corner cube (205), by camera lens, in camera
Target surface on form hot spot.The light spot image acquired in real time is sent to number by the digital camera in vision imaging unit (201)
According to processing unit (204), Inertial Measurement Unit (202) and inclination angle sensing unit (203) measuring unit are respectively constantly by itself
The angular speed and angle of output are sent to data processing unit (204), and data processing unit (204) carries out collected data
Attitude algorithm obtains three azimuth, pitch angle, roll angle posture degree of freedom, together with the position of laser tracker (101) output
Degree of freedom, final this method have obtained the six degree of freedom of laser target.
With reference to Fig. 1, the invention will be further described.
A kind of high speed dynamic pose measuring method based on inertance element and laser tracker is a kind of based on inertia survey
The dynamic measurement method of amount, laser tracker (101) high-frequency tracing and positioning.Below to the entire measurement process of measuring system into
Row is described in detail, described below：
Before measurement, laser tracker (101) opens tracing mode, sends out interference laser.Interfere on laser lock-on laser target
Nicked prism of corner cube (205).Mirror-reflection has occurred in interference laser in the prism, and a part of interference light is after reflection
Tracker is back to, tracker obtains prism of corner cube by the transformational relation of interfeerometry ranging principle and spherical coordinates and rectangular co-ordinate
(205) reflection kernel, another part light pass through the notch of prism of corner cube (205), by camera lens, the shape on the target surface of camera
Into hot spot.Tracker sends out part interference laser by rear, and the digital camera in vision imaging unit (201) will be adopted in real time
The image of collection is sent to data processing unit (204), Inertial Measurement Unit (202) and inclination angle sensing unit (203) measuring unit
The angular speed of itself output and angle are constantly sent to data processing unit (204) respectively, data processing unit (204) is right
Collected data carry out attitude algorithm and obtain three azimuth, pitch angle, roll angle posture degree of freedom, together with laser tracker
(101) position freedom of output, final this method have obtained the six degree of freedom of laser target.
Since laser target and measured target (103) are rigid connections, so the posture of laser target itself is measured target
(103) posture, since the prismatic reflection centre coordinate of laser target and the coordinate of measured target (103) characteristic point be not in same position
Put, thus need to demarcate in advance the prismatic reflection centre coordinate of laser target and measured target (103) feature point coordinates with
Relative position relation under track instrument coordinate system acquires the position of measured target (103) indirectly using position relationship after the measurement
Coordinate.
Inertial Measurement Unit (202) of the present invention includes gyroscope.Picking rate can reach 1200 times per second, real-time
It is good, it can be applied to the measuring environment under high-speed motion or shock conditions.Gyroscope can acquire Inertial Measurement Unit (202) itself
Three axis angular rates under shafting, with Quaternion Method, it is big that can resolve three axis angular rates under inertance element local Coordinate System
Attitude angle under ground coordinate system.
About data processing, as shown in figure 3, n systems (OnXnYnZn) it is earth coordinates, due to tracker leveling, therefore
The origin of earth coordinates can be established on tracker；b(ObXbYbZb) system is carrier coordinate system, that is, inertia measurement list
Itself shafting of member.Origin is located at the Inertial Measurement Unit center in laser target.In figureθ, ψ are respectively that b is tied up under n systems
Roll angle, pitch angle and azimuth.When the use strapdown inertial navigation theory of inertance element carries out pose resolving, load is actually sought
Pose of the body coordinate system under earth coordinates.
If q=(q0,q1,q2,q3) be and spin matrixAttitude quaternion of equal value, according to the algorithm of quaternary number
It can derive following relationship：
WhereinFor quaternary number multiplying,Observation for gyroscope coordinate system relative to the earth
Value, above formula can abbreviation be
The as quaternion differential equation of posture renewal
WhereinAcquisition carry out as the following formula
WithIt is earth rate and position rate respectively, and
In formula, VNVE, L is the last look that navigation calculates.
Card algorithm is finished using single order to quaternion differential equation：
Wherein
In formula, (△ θx,△θy,△θz) for gyroscope in sampling time [tk,tk+1] Relative Navigation coordinate system in interval
Angle increment.
The quaternary number that each iteration obtains can be obtained by above-mentioned algorithm, in order to more intuitively describe angle, need by
It updates obtained quaternary number and is converted into Eulerian angles form.
When determining initial attitude, that is, determine q (t0), above-mentioned attitude updating algorithm and corresponding conversion can be passed through
Relationship acquires every time current newest Eulerian angles.
Obtain measured target (103) attitude information resolving on condition that：Laser target is rigidly connected with measured target (103)
After connecing, laser target must measure initial attitude in measured target (103) Still time with inclination angle sensing unit (203).
During object of which movement, the data processing unit (204) inside laser target can be according to inertia sensing unit
Output quantity, with the indirect filtering algorithm of discrete Kalman, to the defeated of the output quantity of inertia sensing unit and inclination angle sensing unit
Output is merged.
Definition：
[φI pI]TPosture and position for Inertial Measurement Unit estimation；[φS pS]TFor laser target measure posture and
Position；[φ p]TFor true posture and position；△φSAttitude error caused by be accelerated as laser target.
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 function can be completed.
The present invention is not limited to embodiments described above.The description of specific embodiment is intended to describe and be said above
Bright technical scheme of the present invention, above-mentioned specific embodiment is only schematical, is not restricted.This is not being departed from
In the case of invention objective and scope of the claimed protection, those of ordinary skill in the art may be used also under the enlightenment of the present invention
The specific transformation of many forms is made, within these are all belonged to the scope of protection of the present invention.
Claims (5)
1. one kind is based on inertance element and laser tracker dynamic pose measuring apparatus, it is characterized in that, by laser target and laser with
Track instrument is formed, by vision imaging unit, Inertial Measurement Unit, inclination angle sensing unit measuring unit and data inside laser target
Unit composition is managed, laser tracker sends out interference laser, interferes the nicked prism of corner cube on laser lock-on laser target, interference
Mirror-reflection occurs in the prism for laser, and a part of interference light is back to laser tracker after reflection, and laser tracker leads to
It crosses interference range measurement principle and the transformational relation of spherical coordinates and rectangular co-ordinate obtains prism of corner cube reflection kernel, another part light passes through
The notch of prism of corner cube by camera lens, forms hot spot on the target surface of camera, and laser tracker sends out part interference and swashs
For light by rear, the image acquired in real time is sent to data processing unit, inertia measurement by the digital camera in vision imaging unit
The angular speed of itself output and angle are constantly sent to data processing list by unit and inclination angle sensing unit measuring unit respectively
Member, data processing unit carry out attitude algorithm to collected data and obtain three azimuth, pitch angle, roll angle posture freedom
Degree together with the position freedom of laser tracker output, finally obtains the six degree of freedom of laser target.
2. one kind is based on inertance element and laser tracker dynamic pose measuring method, it is characterized in that, led to using laser tracker
The prism of corner cube on track and localization laser target is crossed, position coordinates of the prismatic reflection center under tracker coordinate system is obtained, comes from
A part of light of laser tracker is by the notch of the prism of corner cube on laser target, by camera lens, on the target surface of camera
Hot spot is formed, the light spot image acquired in real time is sent to laser using the digital camera in laser tracker vision imaging unit
Tracker data processing unit, laser tracker Inertial Measurement Unit and inclination angle sensing unit measuring unit respectively constantly will be certainly
The angular speed and angle of body output are sent to data processing unit, and data processing unit carries out attitude algorithm to collected data
Three azimuth, pitch angle, roll angle posture degree of freedom are obtained, together with the position freedom of laser tracker output, final
To the six degree of freedom of laser target.
3. as claimed in claim 2 based on inertance element and laser tracker dynamic pose measuring method, it is characterized in that, in number
According to, by resolving, position and posture when obtaining the target moment relative to initial position and initial attitude become in processing unit
Change.When determining initial attitude, current newest Eulerian angles are acquired every time by corresponding transformational relation.
4. as claimed in claim 2 or claim 3 based on inertance element and laser tracker dynamic pose measuring method, it is characterized in that,
Data processing comprises the concrete steps that, n systems (OnXnYnZn) it is earth coordinates, the origin of earth coordinates is established in tracker
On；b(ObXbYbZb) system is carrier coordinate system, that is, itself shafting of Inertial Measurement Unit, origin, which is located in laser target, to be used to
Property measuring unit center,θ, ψ are respectively that b ties up to roll angle, pitch angle and azimuth under n systems, and inertance element uses victory
When joining the progress pose resolving of inertial navigation theory, pose of the carrier coordinate system under earth coordinates is actually sought, if q=(q0,
q1,q2,q3) be and spin matrixAttitude quaternion of equal value, following relationship is derived according to the algorithm of quaternary number：
WhereinFor quaternary number multiplying,For the observation of gyroscope coordinate system relative to the earth, on
Formula abbreviation is
The as quaternion differential equation of posture renewal
WhereinAcquisition carry out as the following formula
WithIt is earth rate and position rate respectively, and
In formula, VN VE, L is the last look that navigation calculates；
Card algorithm is finished using single order to quaternion differential equation：
Wherein
In formula, (△ θx,△θy,△θz) for gyroscope in sampling time [tk,tk+1] angle of Relative Navigation coordinate system increases in interval
The quaternary number that update obtains so as to obtain the quaternary number that each iteration obtains, is converted into Eulerian angles form by amount：
When determining initial attitude, that is, determine q (t0), acquire every time current newest Eulerian angles.
5. as claimed in claim 2 based on inertance element and laser tracker dynamic pose measuring method, it is characterized in that, in object
During body moves, data processing unit inside laser target can be according to the output quantity of inertia sensing unit, and utilization is discrete
The indirect filtering algorithm of Kalman merges the output quantity of inertia sensing unit with the output quantity of inclination angle sensing unit, specifically
Ground, definition：
[φI pI] it is posture and position that Inertial Measurement Unit is estimated；[φS pS]TThe posture measured for laser target and position；
[φ p]TFor true posture and position；△φSAttitude error caused by be accelerated as laser target.
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| CN109631762A (en) * | 2019-01-29 | 2019-04-16 | 合肥中控智科机器人有限公司 | A kind of method that laser self-calibration realizes Zero calibration |
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| CN109737913A (en) * | 2018-11-23 | 2019-05-10 | 湖北工业大学 | A kind of laser tracking attitude angle system and method |
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