CN108458710A - Pose measuring method - Google Patents

Pose measuring method Download PDF

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Publication number
CN108458710A
CN108458710A CN201810393454.8A CN201810393454A CN108458710A CN 108458710 A CN108458710 A CN 108458710A CN 201810393454 A CN201810393454 A CN 201810393454A CN 108458710 A CN108458710 A CN 108458710A
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target
target point
parameter
tracker
coordinate
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CN108458710B (en
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缪东晶
郑继辉
李建双
赫明钊
李连福
蒋远林
康瑶
陈杨
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National Institute of Metrology
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National Institute of Metrology
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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
    • 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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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

This application discloses a kind of pose measuring methods, pass through step S10, system coordinate system is established in position based on six target trackers, one tested plane is provided, in the tested plane sets three different target point A, B, C, the measurement relative distance parameter of described target point A, B, C between any two is measured；S20 is based on the system coordinate system, demarcates the systematic parameter of described target point A, B, C；S30, based on the measurement relative distance parameter, the systematic parameter, and described target point A, B, C are moved to distance change parameter when measuring position relative to each target tracker from initial position, determine that the tested plane in the pose parameter for measuring position, determines the tested plane in the pose parameter for measuring position.Accurate measurement can be realized by the above method in a wide range of space.

Description

Pose measuring method
Technical field
This application involves fields of measurement, more particularly to a kind of pose measuring method.
Background technology
Machine vision, three coordinate measuring machine, indoor GPS method are mainly passed through to the measurement of object six-freedom degree pose at present It is measured with Multi lateration.Traditional measurement method is since measuring instrument is more, due to originals such as the precision of measuring instrument installation site Cause usually brings measurement range small, the not high problem of measurement accuracy.
Invention content
Based on this, it is necessary to which small for traditional pose measuring method measurement range, the not high problem of measurement accuracy provides A kind of pose measuring method.
A kind of pose measuring method, including step：
System coordinate system is established in S10, the position based on six target trackers, a tested plane is provided, in the quilt Plane sets three different target point A, B, C are surveyed, the measurement relative distance ginseng of described target point A, B, C between any two is measured Number；
S20 is based on the system coordinate system, demarcates the systematic parameter of the measuring system；
S30, based on the measurement relative distance parameter, the systematic parameter and described target point A, B, C from initial bit The distance change parameter being moved to when measuring position relative to each target tracker is set, determines the tested plane in institute State the pose parameter for measuring position.
In one embodiment, the systematic parameter include described target point A, B, C in the initial position relative to every The initial distance systematic parameter of a target tracker, and the target tracker coordinate of each target tracker are joined Number.
In one embodiment, in step slo, the system coordinate system includes three-dimensional orthogonal space reference axis X, Y, Z, The center of the target tracker S1 is set as the system coordinate system origin, the target tracker S2 is located at the reference axis X, the target tracker S3 are located at the plane of the XOY of the system coordinate system, six target tracker S1, S2, S3, The coordinate of S4, S5, S6 are respectively (0,0,0) s1,The target with Track device coordinate parameters include describedThe initial distance system System parameter includes the initial length l that described target tracker S1, S2, S3 arrive target point A respectively10、l20、l30, the target following Device S4, S5 arrive the initial length l of target point B respectively40、l50And the initial length of the target tracker S6 to target point C l60；
Wherein,Respectively represent j-th of target tracker sjX-coordinate value, Y-coordinate value and Z coordinate value, j =1,2,3,4,5,6.
In one embodiment, step S20 includes：
Described target point A, B, C are moved at least six not by S21 from initial position respectively in the system coordinate system Same measurement point；
S22, in each measurement point, based on each target point X relative to target tracker described in each Coordinate position variable quantity and each target point X are obtained with respect to the measurement distance variable quantity of target tracker described in each Obtain systematic parameter calculating formula；
S23 is based on the systematic parameter calculating formula, the mesh based on each target point X is solved by least square method Mark tracker coordinate components parameter and initial distance parameter；
S24 averages respectively to the target tracker coordinate components parameter, obtains the target tracker coordinate ginseng Number, and from initial distance systematic parameter described in the initial distance parameter selection；
Wherein：X represents different target point A, B, C.
In one embodiment, step S21 includes：
S211 makes six target trackers track the target point A, and the mobile target point A is in the system At least six A point measurement points are formed in coordinate system；
S212 makes six target trackers track the target point B, and the mobile target point B is in the system At least six B point measurement points are formed in coordinate system；
S213 so that six target trackers all track the target point C, and the mobile target point C is in the system Coordinate system of uniting is interior to form at least six C point measurement points；
Wherein, the sequencing of described six target trackers tracking target point A, B, C can be interchanged.
In one embodiment, in step S22,
Each the target point X is relative to the coordinate position variable quantity of target tracker described in each：
Each the target point X is with respect to the measurement distance variable quantity of target tracker described in each：
The systematic parameter calculating formula is：
Wherein：X represents different target point A, B, C；
I >=6, and be positive integer, when target point X is moved to i-th of second measurement position, target point XiCoordinate note For
Based on target point X, j-th of target tracker SjCoordinate be denoted asJ=1,2,3,4, 5,6；
It represents target point X and measures position relative to the initial of j-th target tracker at i-th described second Distance parameterVariable quantity.
In one embodiment, in step S23,
The target tracker coordinate components parameter of the target point A includesThe initial distance of the target point A is joined Number includes
The target tracker coordinate components parameter of the target point B includesThe initial distance of the target point B is joined Number includes
The target tracker coordinate components parameter of the target point C includesThe initial distance of the target point C Parameter includes
In one embodiment, in step S24,
From initial distance systematic parameter described in the initial distance parameter selection
It is averaged respectively to the target tracker coordinate components parameter based on following formula and acquires target tracker seat Mark parameter
In one embodiment, the least square method optimized-type is：
Wherein：X represents different target point A, B, C；
J=1,2,3,4,5,6；I >=6, and be positive integer.
In one embodiment, the step S30 includes：
S31 makes target tracker S1, S2 and S3 tracking measure the target point A, the target tracker S4 and S5 Tracking measures the target point B, and the target tracker S6 trackings measure the target point C；
S32 moves the tested plane to the measurement position based on the system coordinate system；
S33 is respectively relative to the distance change ginseng of described target tracker S1, S2 and S3 based on the target point A The several and described initial distance parameter obtains the measurement that the target point A is respectively relative to described target tracker S1, S2, S3 Distance change amount, based on the target point A be respectively relative to the measurement distance variable quantity of described target tracker S1, S2, S3 with And the target point A is respectively relative to the coordinate position variable quantity acquisition target point A parameters of described target tracker S1, S2, S3 Calculating formula；
The distance change parameter and the institute of described target tracker S4, S5 are respectively relative to based on the target point B Initial distance parameter is stated, the measurement distance variable quantity that the target point B is respectively relative to described target tracker S4, S5 is obtained, It is respectively relative to the measurement distance variable quantity of described target tracker S4, S5 based on the target point B and the target point B divides Coordinate position variable quantity not relative to described target tracker S4, S5 obtains target point B parameter calculating formula；
Based on the target point C relative to the target tracker S6 the distance change parameter and it is described initially away from From parameter, measurement distance variable quantities of the target point B relative to the target tracker S6 is obtained, is based on the target point B Relative to the measurement distance variable quantity of the target tracker S6 and the target point C relative to the target tracker S6's Coordinate position variable quantity obtains target point C parameter calculating formulas；
S34, based on described three different target point A, B, C coordinate relative distance parameter between any two and described Relative distance parameter obtains target point apart from calculating formula；
S35, based on the target point A parameters calculating formula, the target point B parameter calculating formula, the target point C parameter meters Formula, the target point obtain the tested plane pose parameter apart from calculating formula.
Gesture measuring method provided by the embodiments of the present application by step S10, establish by the position based on six target trackers System coordinate system provides a tested plane, in the tested plane sets three different target point A, B, C, described in measurement The measurement relative distance parameter of target point A, B, C between any two；S20, be based on the system coordinate system, demarcate the target point A, B, the systematic parameter of C；S30, based on the measurement relative distance parameter, the systematic parameter and described target point A, B, C from Initial position is moved to the distance change parameter relative to each target tracker when measuring position, determines described tested flat Face determines the tested plane in the pose parameter for measuring position in the pose parameter for measuring position.By above-mentioned Method can improve the precision of object pose measurement, expand investigative range.
Description of the drawings
Fig. 1 is pose measuring method flow chart provided by the embodiments of the present application；
The initial position that Fig. 2 is target point A provided by the embodiments of the present application is relative to the first of each target tracker Begin apart from schematic diagram；
Fig. 3 is that target tracker provided by the embodiments of the present application tracks target point A, B, C schematic diagram.
Specific implementation mode
In order to make application purpose, technical solution and the technique effect of the application be more clearly understood, below in conjunction with attached drawing pair The specific embodiment of the application is described.It should be appreciated that specific embodiment described herein is only used to explain the application, It is not used to limit the application.
Fig. 1 is referred to, the embodiment of the present application provides a kind of pose measuring method.The pose measuring method includes step：
System coordinate system is established in S10, the position based on six target trackers, a tested plane is provided, in the quilt Plane sets three different target point A, B, C are surveyed, the measurement relative distance ginseng of described target point A, B, C between any two is measured Number；
S20 is based on the system coordinate system, demarcates the systematic parameter of the measuring system；
S30, based on the measurement relative distance parameter, the systematic parameter and described target point A, B, C from initial bit The distance change parameter being moved to when measuring position relative to each target tracker is set, determines the tested plane in institute State the pose parameter for measuring position.
In step slo, the tested plane can be a plane in three-dimension object, can be with by the plane Measure the posture information of the three-dimension object.The posture information may include the tested plane in the system coordinate system Specific coordinate information and posture information.The posture information can be the rotational angle etc. of the tested plane.The system Coordinate system can determine that the direction of the x, y, z axis of that is, described coordinate system can by the center of six target trackers To be determined by 3 in six target trackers or multiple target trackers.The target tracker can be sharp Optical tracker system, the center of six target trackers can be the measuring center of the laser tracker.The target point A, B, C can be 3 opal reflex reflection mirror optical centres.The target tracker can be used for receiving described target point A, B, C anti- The optical signalling information of feedback.
Relative distance parameter is measured just specific before carrying out pose measurement to determine.The measurement relative distance parameter refers to Be the distance of target point A, B, C between any two.The relative distance parameter that measures may include the relative distance ginseng between A, B Number lAB；A, the relative distance parameter l between CAC；B, the relative distance parameter l between CBC。
In one embodiment, in step S20, the systematic parameter includes the initial position phase of described target point A, B, C For the initial distance parameter of each target tracker, and the target tracker coordinate of each target tracker is joined Number.
Fig. 2 is referred to, in one embodiment, the tested plane that the initial position of described target point A, B, C refers to Most start the position that do not move.The initial distance parameter include each described target point A, B, C to each target with The distance of track device, you can to include 18 parameters.The specific of each target tracker is determined in the system coordinate system Coordinate is as the target tracker coordinate parameters.
In step s 30, the distance change parameter refers to moving described target point A, B, C from the initial position When to next position i, each described target point A, B, C are from position i to the distance of each target tracker, relatively In each described target point A, B, C from the initial position to the variable quantity of the distance of each target tracker.Described six A target tracker can be expressed as：S1、S2、S3、S4、S5、S6.For the target point A, the target point A is in initial bit Distance when setting with respect to target tracker S1 isThe measurement position can be denoted as i.The target point A is in position i phases Distance to target tracker S1 isThe distance change parameter includesSimilarly, the target point A may be used also To include obtaining multiple distance change parameters relative to S2, S3, S4, S5, S6 to include justIt is appreciated thatIt can just bear.Similarly, the target point A can also include multiple distance changes relative to S2, S3, S4, S5, S6 Change parameter.Further, described target point B, C also respectively include 6 distance change parameters.
Based on the distance change parameter and the initial distance parameter, the measurement relative distance parameter, the mesh Tracker coordinate parameters are marked, can be obtained the pose parameter using mathematical method.
Gesture measuring method provided by the embodiments of the present application by step S10, establish by the position based on six target trackers System coordinate system provides a tested plane, in the tested plane sets three different target point A, B, C, described in measurement The measurement relative distance parameter of target point A, B, C between any two；S20, be based on the system coordinate system, demarcate the target point A, B, the systematic parameter of C；S30, based on the measurement relative distance parameter, the systematic parameter and described target point A, B, C from Initial position is moved to the distance change parameter relative to each target tracker when measuring position, determines described tested flat Face determines the tested plane in the pose parameter for measuring position in the pose parameter for measuring position.By above-mentioned Method can improve the precision of object pose measurement, while can expand investigative range.
In one embodiment, the systematic parameter include described target point A, B, C in the initial position relative to every The initial distance systematic parameter of a target tracker, and the target tracker coordinate of each target tracker are joined Number.
In one embodiment, in step slo, the system coordinate system includes three-dimensional orthogonal space reference axis X, Y, Z. The center of the target tracker S1 is set as the system coordinate system origin.The target tracker S2 is located at the reference axis X.The target tracker S3 is located at the plane of the XOY of the system coordinate system.Six target tracker S1, S2, S3, The coordinate of S4, S5, S6 are respectively s1(0,0,0),The target Tracker coordinate parameters include describedThe initial distance Systematic parameter includes the initial length l that described target tracker S1, S2, S3 arrive target point A respectively10、l20、l30.The target with Track device S4, S5 arrive the initial length l of target point B respectively40、l50.And the initial length of the target tracker S6 to target point C Spend l60。
Wherein,Respectively represent j-th of target tracker sjX-coordinate value, Y-coordinate value and Z coordinate value, j =1,2,3,4,5,6.
The coordinate of described six target trackers S1, S2, S3, S4, S5, S6 includes altogether12 unknown parameters, 12 location parameters are to solve object.
In one embodiment, step S20 includes：
Described target point A, B, C are moved at least six not by S21 from initial position respectively in the system coordinate system Same measurement point；
S22, in each measurement point, based on each target point X relative to target tracker described in each Coordinate position variable quantity and each target point X are obtained with respect to the measurement distance variable quantity of target tracker described in each Obtain systematic parameter calculating formula；
S23 is based on the systematic parameter calculating formula, the mesh based on each target point X is solved by least square method Mark tracker coordinate components parameter and initial distance parameter；
S24, to the target tracker coordinate components parameterIt averages respectively, obtains the target Tracker coordinate parameters, and from initial distance systematic parameter described in the initial distance parameter selection.
In one embodiment, step S21 includes：
S211 makes six target trackers track the target point A, and the mobile target point A is in the system At least six A point measurement points are formed in coordinate system；
S212 makes six target trackers track the target point B, and the mobile target point B is in the system At least six B point measurement points are formed in coordinate system；
S213 so that six target trackers all track the target point C, and the mobile target point C is in the system Coordinate system of uniting is interior to form at least six C point measurement points.
It is appreciated that the tracking sequence of tri- measurement points of described A, B and C can be interchanged.
In step S211, according to Mathematical equation principle, 18+3n ＜ 6n obtain need at least six different second Position is measured, and then obtains the target tracker coordinate parameters.
In step S22, the coordinate position variable quantity refers to the location variation being calculated by coordinate.It is described Measurement distance variable quantity is referred to by measuring obtained location variation.
In one embodiment, each target point X becomes relative to the coordinate position of target tracker described in each Change amount is：
Each the target point X is with respect to the measurement distance variable quantity of target tracker described in each：
The systematic parameter calculating formula is：
Wherein：X represents different target point A, B, C；
I >=6, and be positive integer, when target point X is moved to i-th of second measurement position, target point XiCoordinate note For
Based on target point X, j-th of target tracker SjCoordinate be denoted asJ=1,2,3, 4,5,6；
It represents target point X and measures position relative to the initial of j-th target tracker at i-th described second Distance parameterVariable quantity.
In one embodiment, in step S23,
The target tracker coordinate components parameter of the target point A includesThe initial distance parameter of the target point A Including
The target tracker coordinate components parameter of the target point B includesThe initial distance of the target point B is joined Number includes
The target tracker coordinate components parameter of the target point C includesThe initial distance of the target point C Parameter includes
The initial distance systematic parameter
For the target point A, makes 6 different target trackers while tracking the target point A, the target The initial distance parameter of point A to 6 different target trackers is to be denoted asJ=1 ..., 6.6 targets The measuring center coordinate of tracker isJ=1 ..., 6, the calculative target tracker coordinate parameters ForThe initial distance parameter is
The systematic parameter calculating formula is：
In S24, in one embodiment, the least square method optimized-type is：
Wherein：X represents different target point A, B, C；
J=1,2,3,4,5,6；I >=6, and be positive integer.
For the target point A,
For the target point B, makes 6 different target trackers while tracking the target point B.The target The initial distance parameter of point B to 6 different target trackers is to be denoted asJ=1 ..., 6,6 targets The measuring center coordinate of tracker isJ=1 ..., 6, the calculative target tracker coordinate parameters ForThe initial distance parameter is
The systematic parameter calculating formula is：
For the target point C, makes 6 different target trackers while tracking the target point C.The target The initial distance parameter of point C to 6 different target trackers is to be denoted asJ=1 ..., 6,6 targets The measuring center coordinate of tracker isJ=1 ..., 6, the calculative target tracker coordinate ginseng Number isThe initial distance parameter is
The target tracker coordinate parameters calculating formula is：
In step s 24, to the target tracker coordinate components parameterIt averages respectively
Acquire the target tracker coordinate parameters And pass throughObtain initial distance systematic parameter.
Fig. 3 is referred to, in one embodiment, the step S30 includes：
S31 makes target tracker S1, S2 and S3 tracking measure the target point A, the target tracker S4 and S5 Tracking measures the target point B, and the target tracker S6 trackings measure the target point C；
S32 moves the tested plane to the measurement position based on the system coordinate system；
S33 is respectively relative to the distance change ginseng of described target tracker S1, S2 and S3 based on the target point A The several and described initial distance parameter obtains the measurement that the target point A is respectively relative to described target tracker S1, S2, S3 Distance change amount, based on the target point A be respectively relative to the measurement distance variable quantity of described target tracker S1, S2, S3 with And the target point A is respectively relative to the coordinate position variable quantity acquisition target point A parameters of described target tracker S1, S2, S3 Calculating formula；
The distance change parameter and the institute of described target tracker S4, S5 are respectively relative to based on the target point B Initial distance parameter is stated, the measurement distance variable quantity that the target point B is respectively relative to described target tracker S4, S5 is obtained, It is respectively relative to the measurement distance variable quantity of described target tracker S4, S5 based on the target point B and the target point B divides Coordinate position variable quantity not relative to described target tracker S4, S5 obtains target point B parameter calculating formula；
Based on the target point C relative to the target tracker S6 the distance change parameter and it is described initially away from From parameter, measurement distance variable quantities of the target point B relative to the target tracker S6 is obtained, is based on the target point B Relative to the measurement distance variable quantity of the target tracker S6 and the target point C relative to the target tracker S6's Coordinate position variable quantity obtains target point C parameter calculating formulas；
S34, based on described three different target point A, B, C coordinate relative distance parameter between any two and described Relative distance parameter obtains target point apart from calculating formula；
S35, based on the target point A parameters calculating formula, the target point B parameter calculating formula, the target point C parameter meters Formula, the target point obtain the tested plane pose parameter apart from calculating formula.
In step S33, the target point A can be measured by target tracker S1, S2, S3 and is respectively relative to the mesh Mark the distance change parameter of tracker S1, S2, S3；The target point B is measured relative to institute by target tracker S4, S5 State the distance change parameter of target tracker S4, S5；The target point C is measured relative to described by target tracker S6 The distance change parameter of target tracker S6.
The target point A is respectively (l relative to the measurement distance variable quantity of described target tracker S1, S2, S310+Δ l1i)2、(l20+Δl2i)2、(l30+Δl3i)2.The target point A is respectively relative to the coordinate of described target tracker S1, S2, S3 Location variation is It is described Target point A pose parameter calculating formulas are：
The target point B is respectively (l relative to the measurement distance variable quantity of described target tracker S4, S540+Δl4i)2 (l50+Δl5i)2.The target point B is respectively relative to the coordinate position variable quantity of described target tracker S4, S5The target point B poses Parameter calculating formula is：
The target point C is (l relative to the distance change amount of the target tracker S660+Δl6i)2.The target point C Coordinate position variable quantity relative to the target tracker S6 isThe mesh Punctuate C pose parameter calculating formulas are：
The coordinate relative distance parameter of described three different target point A, B, C between any two is
The relative distance parameter of described target point A, B, C between any two is
The target point is apart from calculating formula：
By above-mentioned target point A pose parameters calculating formula, the target point B pose parameters calculating formula, target point C described Appearance parameter calculating formula and the target point can be calculated apart from calculating formula is tested plane pose described in the first position Parameter.
In one embodiment, the plane pose parameter includes being located at described target point A, B, C for measuring position in institute Pose coordinate value in system coordinate system and the tested plane are stated in the measurement position relative to the system coordinate system Pose angle value.The pose coordinate value can pass through above-mentioned target point A pose parameters calculating formula, the target point B poses Parameter calculating formula, the target point C pose parameters calculating formula and the target point are calculated apart from calculating formula.
In one embodiment, it is worth to the normal vector of tested plane by the pose coordinate, passes through the normal vector Obtain pose angle value.In one embodiment, after the pose coordinate value for measuring A, B, C, vector is found outWithIt should Tested plane normal vectorX-axis unit vector isY-axis unit vector isZ axis Unit vector isThen the plane under coordinate system with the angle of X-axisWith the angle of Y-axisWith the angle of Z axisTo obtain the pose angle of the tested plane Value.
In one embodiment, target tracker described in any four is non-coplanar in six target trackers.Arbitrarily Four target trackers are non-coplanar can to improve measurement accuracy, reduce error.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited In contradiction, it is all considered to be the range of this specification record.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously Cannot the limitation to the application the scope of the claims therefore be interpreted as.It should be pointed out that for those of ordinary skill in the art For, under the premise of not departing from the application design, various modifications and improvements can be made, these belong to the guarantor of the application Protect range.Therefore, the protection domain of the application patent should be determined by the appended claims.

Claims (10)

1. a kind of pose measuring method, which is characterized in that including step：
System coordinate system is established in S10, the position based on six target trackers, provides a tested plane, described tested flat Face sets three different target point A, B, C, measures the measurement relative distance parameter of described target point A, B, C between any two；
S20 is based on the system coordinate system, demarcates the systematic parameter of the measuring system；
S30 is moved based on the measurement relative distance parameter, the systematic parameter and described target point A, B, C from initial position The distance change parameter relative to each target tracker when measuring position is moved, determines the tested plane in the survey Measure the pose parameter of position.
2. the pose measuring method as described in claim 1, which is characterized in that the systematic parameter includes the target Initial distance systematic parameters of point A, B, the C in the initial position relative to each target tracker, and it is each described The target tracker coordinate parameters of target tracker.
3. pose measuring method as claimed in claim 2, which is characterized in that in step slo, the system coordinate system includes Three-dimensional orthogonal space reference axis X, Y, Z set the center of the target tracker S1 as the system coordinate system origin, the mesh Mark tracker S2 is located at the reference axis X, and the target tracker S3 is located at the plane of the XOY of the system coordinate system, described The coordinate of six target trackers S1, S2, S3, S4, S5, S6 are respectively s1(0,0,0), It is described Target tracker coordinate parameters include describedIt is described initial System of distance parameter includes the initial length l that described target tracker S1, S2, S3 arrive target point A respectively10、l20、l30, the mesh Mark tracker S4, S5 arrive the initial length l of target point B respectively40、l50And the target tracker S6's to target point C is first Beginning length l60；
Wherein,Respectively represent j-th of target tracker sjX-coordinate value, Y-coordinate value and Z coordinate value, j=1, 2,3,4,5,6。
4. pose measuring method as claimed in claim 3, which is characterized in that step S20 includes：
S21 is different from initial position movement at least six respectively by described target point A, B, C in the system coordinate system Measurement point；
S22, in each measurement point, the coordinate based on each target point X relative to target tracker described in each Location variation and each target point X are with respect to the measurement distance variable quantity of target tracker described in each System parameter calculating formula；
S23, be based on the systematic parameter calculating formula, by least square method solve the target based on each target point X with Track device coordinate components parameter and initial distance parameter；
S24 averages respectively to the target tracker coordinate components parameter, obtains the target tracker coordinate parameters, And from initial distance systematic parameter described in the initial distance parameter selection；
Wherein：X represents different target point A, B, C.
5. pose measuring method as claimed in claim 4, which is characterized in that step S21 includes：
S211 makes six target trackers track the target point A, and the mobile target point A is in the system coordinates At least six A point measurement points are formed in system；
S212 makes six target trackers track the target point B, and the mobile target point B is in the system coordinates At least six B point measurement points are formed in system；
S213 so that six target trackers all track the target point C, and the mobile target point C is sat in the system At least six C point measurement points are formed in mark system；
Wherein, the sequencing of described six target trackers tracking target point A, B, C can be interchanged.
6. pose measuring method as claimed in claim 4, which is characterized in that in step S22,
Each the target point X is relative to the coordinate position variable quantity of target tracker described in each：
Each the target point X is with respect to the measurement distance variable quantity of target tracker described in each：
The systematic parameter calculating formula is：
Wherein：X represents different target point A, B, C；
I >=6, and be positive integer, when target point X is moved to i-th of second measurement position, target point XiCoordinate be denoted as
Based on target point X, j-th of target tracker SjCoordinate be denoted asJ=1,2,3,4,5,6；
It represents target point X and measures initial distance of the position relative to j-th of target tracker at i-th described second ParameterVariable quantity.
7. pose measuring method as claimed in claim 6, which is characterized in that in step S23,
The target tracker coordinate components parameter of the target point A includesThe initial distance of the target point A is joined Number includes
The target tracker coordinate components parameter of the target point B includesThe initial distance of the target point B is joined Number includes
The target tracker coordinate components parameter of the target point C includesThe initial distance of the target point C Parameter includes
8. pose measuring method as claimed in claim 7, which is characterized in that in step S24,
From initial distance systematic parameter described in the initial distance parameter selection
It is averaged respectively to the target tracker coordinate components parameter based on following formula and acquires target tracker coordinate ginseng Number
9. pose measuring method as claimed in claim 8, which is characterized in that the least square method optimized-type is：
Wherein：X represents different target point A, B, C；
J=1,2,3,4,5,6；I >=6, and be positive integer.
10. pose measuring method as claimed in claim 4, which is characterized in that the step S30 includes：
S31 makes target tracker S1, S2 and S3 tracking measure target point A, the target tracker S4 and the S5 tracking The target point B is measured, the target tracker S6 trackings measure the target point C；
S32 moves the tested plane to the measurement position based on the system coordinate system；
S33, based on the target point A be respectively relative to the distance change parameter of described target tracker S1, S2 and S3 with And the initial distance parameter, obtain the measurement distance that the target point A is respectively relative to described target tracker S1, S2, S3 Variable quantity is respectively relative to measurement distance variable quantity and the institute of described target tracker S1, S2, S3 based on the target point A State the coordinate position variable quantity acquisition target point A parameters calculating that target point A is respectively relative to described target tracker S1, S2, S3 Formula；
Based on the target point B be respectively relative to described target tracker S4, S5 the distance change parameter and it is described just Beginning distance parameter obtains the measurement distance variable quantity that the target point B is respectively relative to described target tracker S4, S5, is based on The target point B is respectively relative to the measurement distance variable quantity and target point B difference phases of described target tracker S4, S5 Target point B parameter calculating formula is obtained for the coordinate position variable quantity of described target tracker S4, S5；
Joined relative to the distance change parameter of the target tracker S6 and the initial distance based on the target point C Number, obtains measurement distance variable quantities of the target point B relative to the target tracker S6, opposite based on the target point B In the coordinate relative to the target tracker S6 of measurement distance variable quantity and the target point C of the target tracker S6 Location variation obtains target point C parameter calculating formulas；
S34, based on described three different target point A, B, C coordinate relative distance parameter between any two and described opposite Distance parameter obtains target point apart from calculating formula；
S35 is calculated based on the target point A parameters calculating formula, the target point B parameter calculating formula, the target point C parameters Formula, the target point obtain the tested plane pose parameter apart from calculating formula.
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