CN110455277A - High-precision attitude measuring device and method based on internet of things data fusion - Google Patents
High-precision attitude measuring device and method based on internet of things data fusion Download PDFInfo
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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Abstract
The present invention provides a kind of high-precision attitude measuring devices and method based on internet of things data fusion, belong to Internet of Things technical field of high-precision measurement.Measuring basis plane is located at the top of object to be measured in the present invention, and laser range finder is each perpendicular to the upper surface installation of object to be measured, and laser rays intersects to obtain beam pattern point with measuring basis plane, and output valve is transmitter to the distance between beam pattern point；What stadia surveying obtained itself arrives the distance between measuring basis plane, is uploaded to cloud attitude algorithm algorithm inlet, object to be measured posture is calculated by space vector operation；After completing attitude algorithm, according to other modules to the request instruction of result, result is distributed to other modules by wireless network.The present invention, which exports result, not will receive the influence of the conditions such as ambient lighting change, can be directly used for attitude algorithm, can shorten time of measuring, improve system sampling frequency and real-time, and at low cost, the degree of modularity is high.
Description
Technical field
The present invention relates to a kind of high-precision attitude measuring devices and method based on internet of things data fusion, belong to Internet of Things
Technical field of high-precision measurement.
Background technique
Movement simulation field, industry spot need to measure the posture of object to be measured at present, some occasions, which do not allow to contact, to be surveyed
Amount, the traditional approach such as such grating, code-disc are no longer appropriate for, and some is more to measurement cost limitation, are needed a kind of economical and practical, non-
The measurement method of contact.
In the prior art the paper computer vision of five degree of freedom air floating table posture " assist determine " (Sichuan University's journal,
Xu Jian, 20090720) propose a kind of method using computer vision auxiliary five degree of freedom air floating table attitude measurement.This method
The integrated attitude determination scheme for devising a kind of "+two axial rake instrument of monocular vision+three-axis gyroscope ", acquires gas by video camera in real time
Floating platform moving image simultaneously identifies the image coordinate for putting into effect upper positioning light, further calculates the yaw angle of air floating table, the party
Method experiments verify that can the posture to air floating table accurately estimated and corrected.But what is wherein proposed is regarded using computer
The method for feeling auxiliary five degree of freedom air floating table attitude measurement, although the collected air floating table moving image solution of video camera can be passed through
The yaw angle of air floating table is calculated, but uses the integrated attitude determination scheme of "+two axial rake instrument of monocular vision+three-axis gyroscope ", nothing
Method realization measures air floating table posture by single sensor, joint effect of the measurement accuracy by Multiple factors, it is difficult to
The analysis and compensation of error are carried out, and has used the multiple sensors including gyroscope, the cost of implementation of measuring system
It is higher, the degree of modularity is lower.
In the prior art paper " based on computer vision three-axis air-bearing table posture determine " (computer measurement and control,
Qiu Wanbin, 20150225) it proposes a kind of posture based on computer vision and determines scheme.The program devises a kind of with non-same
Heart circle is based on the constant theory of conic section, calculates the plane target drone under camera coordinate system to the plane target drone being characterized
Posture realizes that air floating table three-axis attitude determines.The program is experiments verify that may be implemented the precise measurement of three-axis air-bearing table posture.
But the posture based on computer vision wherein proposed determines scheme, although can be by calculating the cooperation target installed in advance
Posture so that determine three-axis air-bearing table posture, but be still unavoidable from illumination condition variation etc. factors camera imaging is made
At influence, higher measurement accuracy is difficult to ensure when illumination condition is bad.
In the prior art patent " a kind of to the object space attitude measurement method with parallel lines feature " (patent of invention,
Hao Chong, 20180202) it proposes a kind of to the object space attitude measurement method with parallel lines feature.This method is sought first
Line laser is irradiated to the direction in space vector of the straight line on measured target surface, by the rotation transformation of coordinate system solve attitude angle and
Azimuth has the characteristics that measuring system erection is convenient, at low cost, measuring process is simple.But it wherein proposes flat to having
The object space attitude measurement method of line feature, although the straight line that measured target surface can be irradiated to by calculating line laser
Direction in space vector, and then attitude angle and azimuth are solved by the rotation transformation of coordinate system, but due to using industry
Sensor of the camera as measurement, obtained measurement data need by pretreatment, feature extraction, pose clearing and etc. after
Final measurement result can be obtained, the time needed for entire measurement process is longer, and sample frequency and real-time are restricted.
Summary of the invention
It of the existing technology cannot achieve through single sensor to air bearing the purpose of the present invention is to solve above-mentioned
Platform posture measures, and not can avoid factors influences caused by camera imaging such as illumination condition variation, obtained measurement data
Need just obtain final measurement result after pretreatment, and required time is long, sample frequency and real-time by
To restrict the problems such as, and then provide it is a kind of based on internet of things data fusion high-precision attitude measuring device and method.
The purpose of the present invention is what is be achieved through the following technical solutions:
It is a kind of based on internet of things data fusion high-precision attitude measuring device, by measuring basis plane, object to be measured and
Laser range finder composition；
The measuring basis plane is located at the top of object to be measured, and three laser range finders are each perpendicular to the upper of object to be measured
The laser rays of surface installation, laser range finder transmitting intersects to obtain corresponding beam pattern point, Laser Measuring with measuring basis plane
The measurement output valve of distance meter is the transmitter of laser range finder the distance between to beam pattern point, and object to be measured does Three Degree Of Freedom
Rotation, rotation range ensure that the corresponding beam pattern point of three laser range finders is respectively positioned in measuring basis plane.
A kind of high-precision attitude measurement method based on internet of things data fusion, comprising the following steps:
The transmitter of three laser range finders is denoted as A, B, C respectively, by the corresponding beam pattern of three laser range finders
Point is denoted as A respectively1、B1、C1；
Firstly, establishing coordinate system necessary to attitude measurement, the reference frame W being connected with measuring basis plane is established,
Its Oxy plane is overlapped with measuring basis plane, and Oz axis is vertical with measuring basis plane, similarly, is established and table in object to be measured
Connected object coordinates system T, the Oxy plane in face is overlapped with object to be measured upper surface, and Oz axis is vertical with object to be measured upper surface；
Later, three laser range finders start to measure itself the distance between to measuring basis plane, are denoted as h respectivelyA、hB、
hC, after obtaining the measured value of distance, it is uploaded to the inlet of cloud attitude algorithm algorithm, passes through space vector operation meter
Calculation obtains the posture of object to be measured；
After completing attitude algorithm beyond the clouds, according to other modules to the request instruction of attitude measurement result, posture is surveyed
It measures result and other modules is distributed to by wireless network.
The invention has the benefit that
The present invention using laser range finder as sensor, the output result of sensor itself by environmental factor influenced compared with
It is small, it not will receive the influence of the conditions such as ambient lighting change.And compared with industrial camera, the output valve of laser range finder has
Specific physical significance does not need the additional step such as pretreatment, feature extraction, is used directly for the clearing of posture, thus
Time of measuring can be shortened, improve the sample frequency and real-time of system.
Sensor needed for measurement method of the present invention only includes laser range finder, can without the auxiliary of other sensors
, the degree of modularity higher advantage lower with cost of implementation.And attitude algorithm algorithm is run beyond the clouds, and sensor side only needs
Has a basic network communicating function, therefore can to design ground as far as possible simple portable for the hardware device of sensor side, convenient
Reduce influence of the sensor installation to object to be measured itself while installation to the maximum extent.In addition, attitude measurement result
Distribution also carries out beyond the clouds, therefore the receiving end of measurement data is measured in which can be convenient by network request measurement data and reception
Data, without increasing or decreasing physical connection when receiving end quantity changes, so that measuring system is more flexible in use.
Detailed description of the invention
Fig. 1 is that the present invention is based on the high-precision attitude measuring device structural schematic diagrams that internet of things data merges.
Fig. 2 is that the present invention is based on the high-precision attitude measuring device rough schematic views that internet of things data merges.
Appended drawing reference in figure, 1 is measuring basis plane, and 2 be object to be measured, and 3 be laser range finder.
Specific embodiment
Below in conjunction with attached drawing, the present invention is described in further detail: the present embodiment is being with technical solution of the present invention
Under the premise of implemented, give detailed embodiment, but protection scope of the present invention is not limited to following embodiments.
As depicted in figs. 1 and 2, a kind of high-precision attitude measurement based on internet of things data fusion involved in the present embodiment
Device, comprising: the composition such as measuring basis plane 1, object to be measured 2 and laser range finder 3；
As shown in Figure 1, the measuring basis plane 1 is located at the top of object to be measured 2, three laser range finders 3 are vertical
It is installed in the upper surface of object to be measured 2, the laser rays that laser range finder 3 emits intersects to obtain corresponding with measuring basis plane 1
Beam pattern point, the measurement output valve of laser range finder 3 be laser range finder 3 transmitter between beam pattern point away from
From object to be measured 2 does the rotation of Three Degree Of Freedom, and the range of rotation is it is ensured that the corresponding beam pattern point of three laser range finders
It is respectively positioned in measuring basis plane.
It is including following based on a kind of above-mentioned measurement method of the high-precision attitude measuring device based on internet of things data fusion
Step:
As shown in Fig. 2, the transmitter of three laser range finders is denoted as A, B, C respectively, three laser range finders are corresponding
Beam pattern point be denoted as A respectively1、B1、C1；
Firstly, establishing coordinate system necessary to attitude measurement, the reference frame W being connected with measuring basis plane is established,
Its Oxy plane is overlapped with measuring basis plane, and Oz axis is vertical with measuring basis plane, similarly, is established and table in object to be measured
Connected object coordinates system T, the Oxy plane in face is overlapped with object to be measured upper surface, and Oz axis is vertical with object to be measured upper surface；
Later, three laser range finders start to measure itself the distance between to measuring basis plane, are denoted as h respectivelyA、hB、
hC, after obtaining the measured value of distance, it is uploaded to the inlet of cloud attitude algorithm algorithm, passes through space vector operation meter
Calculation obtains the posture of object to be measured；
After completing attitude algorithm beyond the clouds, according to other modules to the request instruction of attitude measurement result, posture is surveyed
It measures result and other modules is distributed to by wireless network.
Specific attitude algorithm process is as follows:
According to the installation site of three laser range finders, coordinate of available point A, B, the C under object coordinates system, respectively
It is denoted as PA、PB、PC；
Since three laser range finders are each perpendicular to the upper surface installation of object to be measured, available laser range finder transmitting
Laser beam it is parallel with the Oz axis of object coordinates system, therefore, point A, B, C and point A1、B1、C1Between only z-axis coordinate it is different, and
The coordinate value is exactly the measured value of corresponding laser range finder, available point A1、B1、C1Coordinate under object coordinates system,
It is denoted as P respectivelyA′、PB′、PC′；
Next, the coordinate P according to point A, B, C under object coordinates systemA、PB、PCAnd point A1、B1、C1In object coordinates
Coordinate P under systemA′、PB′、PC' seek spin matrix of the reference frame W relative to object coordinates system T；
In plane A1B1C1It is interior, find two spaces vectorIts coordinate is respectively
Plane A can be acquired1B1C1Normal vector at object coordinates T
And plane A1B1C1Normal vector
Rotary shaft of the reference frame W relative to object coordinates system T can be acquired as a result,With rotation angle, θ；
According to shaft angle to the transformation relation between rotation quaternary number, reference frame W can be acquired relative to object coordinates
It is the rotation quaternary number q of T
Wherein, nx、nyAnd nzRespectively rotary shaft3 components, q0、q1、q2And q3Respectively rotate 4 of quaternary number q
Component.
According to the transformation relation between rotation quaternary number and spin matrix, reference frame W can be acquired and sat relative to object
The spin matrix of mark system T
Finally, the spin matrix according to reference frame W relative to object coordinates system TObject coordinates system T can be acquired
Spin matrix relative to reference frame W
Spin matrix of the object coordinates system T-phase for reference frame WThe posture information as measured.
The foregoing is only a preferred embodiment of the present invention, these specific embodiments are all based on the present invention
Different implementations under general idea, and scope of protection of the present invention is not limited thereto, it is any to be familiar with the art
Technical staff in the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of, should all cover of the invention
Within protection scope.Therefore, the scope of protection of the invention shall be subject to the scope of protection specified in the patent claim.
Claims (3)
1. a kind of high-precision attitude measuring device based on internet of things data fusion, which is characterized in that by measuring basis plane
(1), object to be measured (2) and laser range finder (3) composition；
The measuring basis plane (1) is located at the top of object to be measured (2), and three laser range finders (3) are each perpendicular to mesh to be measured
The upper surface installation of (2) is marked, the laser rays of laser range finder (3) transmitting intersects to obtain corresponding light with measuring basis plane (1)
Spot characteristic point, the measurement output valve of laser range finder (3) be laser range finder (3) transmitter between beam pattern point away from
From object to be measured (2) does the rotation of Three Degree Of Freedom, and the range of rotation ensures that the corresponding hot spot of three laser range finders (3) is special
Sign point is respectively positioned on measuring basis plane (1).
2. a kind of high-precision attitude measurement method based on internet of things data fusion, which comprises the following steps:
The transmitter of three laser range finders is denoted as A, B, C respectively, by the corresponding beam pattern point minute of three laser range finders
A is not denoted as it1、B1、C1；
Firstly, establishing coordinate system necessary to attitude measurement, the reference frame W, Oxy being connected with measuring basis plane are established
Plane is overlapped with measuring basis plane, and Oz axis is vertical with measuring basis plane, similarly, is established and is connected with object to be measured upper surface
Object coordinates system T, Oxy plane be overlapped with object to be measured upper surface, Oz axis is vertical with object to be measured upper surface；
Later, three laser range finders start to measure itself the distance between to measuring basis plane, are denoted as h respectivelyA、hB、hC,
After obtaining the measured value of distance, it is uploaded to the inlet of cloud attitude algorithm algorithm, is calculated by space vector operation
Obtain the posture of object to be measured；
After completing attitude algorithm beyond the clouds, according to other modules to the request instruction of attitude measurement result, by attitude measurement knot
Fruit is distributed to other modules by wireless network.
3. the high-precision attitude measurement method according to claim 2 based on internet of things data fusion, which is characterized in that tool
The attitude algorithm process of body is as follows:
According to the installation site of three laser range finders, coordinate of available point A, B, the C under object coordinates system is denoted as respectively
PA、PB、PC；
Since three laser range finders are each perpendicular to the upper surface installation of object to be measured, available laser range finder transmitting swashs
Light beam is parallel with the Oz axis of object coordinates system, therefore, point A, B, C and point A1、B1、C1Between only z-axis coordinate it is different, and the seat
Scale value is exactly the measured value of corresponding laser range finder, available point A1、B1、C1Coordinate under object coordinates system, respectively
It is denoted as PA′、PB′、PC′；
Next, the coordinate P according to point A, B, C under object coordinates systemA、PB、PCAnd point A1、B1、C1Under object coordinates system
Coordinate PA′、PB′、PC' seek spin matrix of the reference frame W relative to object coordinates system T；
In plane A1B1C1It is interior, find two spaces vectorIts coordinate is respectively
Plane A can be acquired1B1C1Normal vector at object coordinates T
And plane A1B1C1Normal vector
Rotary shaft of the reference frame W relative to object coordinates system T can be acquired as a result,With rotation angle, θ；
According to shaft angle to the transformation relation between rotation quaternary number, reference frame W can be acquired relative to object coordinates system T's
Rotate quaternary number q
Wherein, nx、nyAnd nzRespectively rotary shaft3 components, q0、q1、q2And q3Respectively rotate 4 points of quaternary number q
Amount；
According to the transformation relation between rotation quaternary number and spin matrix, reference frame W can be acquired relative to object coordinates system T
Spin matrix
Finally, the spin matrix according to reference frame W relative to object coordinates system TCan acquire object coordinates system T-phase for
The spin matrix of reference frame W
Spin matrix of the object coordinates system T-phase for reference frame WThe posture information as measured.
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| CN113701748B (en) * | 2021-07-21 | 2023-05-26 | 西南科技大学 | Large-scale blocking space attitude combined measurement device and method and object attitude automatic adjustment method |
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