CN117490678A - Omnidirectional photoelectric receiver for omnidirectional receiving measurement and pose measurement method thereof - Google Patents
Omnidirectional photoelectric receiver for omnidirectional receiving measurement and pose measurement method thereof Download PDFInfo
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Classifications
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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
- 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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- 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
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
Abstract
The invention relates to an omnidirectional photoelectric receiver for omnidirectional receiving measurement and a pose measurement method thereof, the omnidirectional photoelectric receiver comprises a base (1), a receiver base body (2) is arranged on the omnidirectional photoelectric receiver, the receiver base body (2) comprises a mounting seat and a sphere, eight photoelectric detector mounting holes are formed in the upper hemisphere and the lower hemisphere of the sphere, one photoelectric detector (3) is arranged in each photoelectric detector mounting hole, every two adjacent photoelectric detectors (3) are horizontally staggered by 45 degrees, the photoelectric detectors (3) on the upper hemisphere and the photoelectric detectors (3) adjacent to the photoelectric detectors (3) on the lower hemisphere are horizontally staggered by 22.5 degrees, and the included angle between each photoelectric detector (3) and the longitudinal section of the receiver base body (2) is 20 degrees. The method improves the receiving and measuring range of the laser signal, and effectively solves the problem of light shielding in complex space scenes.
Description
Technical Field
The invention belongs to the technical field of indoor large-size space measurement and positioning, and relates to an omnidirectional photoelectric receiver for omnidirectional receiving measurement and a pose measurement method thereof.
Background
The high-precision laser positioning system (Accurate Laser Positioning System, ALPS) has great application in the production and assembly fields of aerospace, marine ships and the like. The ALPS has higher measurement precision and good expansion stability, improves the research and development level of an indoor high-precision large-size measurement system in China, provides a high-precision and high-reliability online measurement technology for the field of manufacturing and assembling high-end large parts such as airplanes, rockets, ships and the like in China, and provides a powerful technical support for realizing intelligent manufacturing and assembling.
However, currently, the performance of the photoelectric receiver as an ALPS front-end optical signal receiving unit directly affects the measurement accuracy and use of the ALPS system. The existing planar and spherical receivers have the problems that the laser receiving angle is limited and shielding is easy to occur in a complex large-space measurement scene, and the laser scanning optical signals of multiple base stations and full viewing angles are required to be received in the process of realizing high-precision navigation positioning by an indoor photoelectric scanning measurement technology.
In view of the above technical drawbacks of the prior art, there is an urgent need to develop an omnidirectional spatial measurement positioning technique in complex application scenarios.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an omnidirectional photoelectric receiver for omnidirectional receiving measurement and a pose measuring method thereof, which improve the receiving measurement range of laser signals and effectively solve the problem of light shielding in complex space scenes.
In order to achieve the above object, the present invention provides the following technical solutions:
an omnidirectional photoelectric receiver for omnidirectional receiving measurement comprises a base, wherein a receiver base body is arranged on the base, and the omnidirectional photoelectric receiver is characterized in that the receiver base body comprises a mounting seat and a sphere arranged on the mounting seat, eight photoelectric detector mounting holes are formed in an upper hemisphere and a lower hemisphere of the sphere, one photoelectric detector is arranged in each photoelectric detector mounting hole, any two adjacent photoelectric detectors in the eight photoelectric detectors on the upper hemisphere are horizontally staggered by 45 degrees, 45 degrees are horizontally staggered between any two adjacent photoelectric detectors (3) in the lower hemisphere, 22.5 degrees are horizontally staggered between the photoelectric detectors on the upper hemisphere and the photoelectric detectors adjacent to the photoelectric detectors on the lower hemisphere, and meanwhile, the included angle between each photoelectric detector and the longitudinal section of the receiver base body is 20 degrees.
Preferably, the diameter of the sphere of the receiver matrix is 70mm, the photodetector is trapezoidal and its dimensions are 21.24mm x 15.85mm x 19mm, i.e. the two bottom edges are 21.24mm and 15.85mm, respectively, and the height is 19mm.
Preferably, a cylindrical groove with the length of 40.7mm multiplied by 2mm is reserved at the upper end part of the upper hemisphere of the sphere, a target sphere base is arranged in the cylindrical groove, and a target sphere is arranged on the target sphere base.
Preferably, the base is disc-shaped and has a diameter of 64mm and a thickness of 5mm.
In addition, the invention also provides a pose measurement method of the omnidirectional photoelectric receiver for omnidirectional receiving measurement, which is characterized by comprising the following steps:
1) Establishing a position measurement mathematical model of the omnidirectional photoelectric receiver and solving the position coordinates of each receiving node of the omnidirectional photoelectric receiver;
2) And establishing a mathematical model for measuring the gesture of the omnidirectional photoelectric receiver and solving the gesture of the omnidirectional photoelectric receiver.
Preferably, the step 1) specifically includes:
1.1 Distributing a plurality of transmitting base stations in a measuring field, wherein each transmitting base station has 2 laser planes;
1.2 Establishing a mathematical model of the omnidirectional photoelectric receiver as
Wherein K is 1s And K 2s Representing a laser plane equation; (A) M1s ,B M1s ,C M1s )、(A M2s ,B M2s ,C M2s ) Is a laser plane parameter; (X) s ,Y s ,Z s ) Space coordinate values for the receiving nodes; s, x is the number of the receiving node; d (D) sx Distance parameter values between the receiving nodes s, x; g s ,G x Three-dimensional coordinates of receiving nodes distributed on the omnidirectional photoelectric receiver;
1.3 Solving a position measurement mathematical model of the omnidirectional photoelectric receiver by adopting a nonlinear optimization algorithm, and giving a target optimization function T min When the objective function tends to be small, an optimal solution of the equation set, i.e. the position coordinates of the respective receiving nodes,
n is the number of receiving nodes.
Preferably, the step 2) specifically includes:
2.1 Determining the conversion relation between the receiver coordinate system and the world coordinate system as follows:
in the method, in the process of the invention,representing the rotation matrix relationship between the receiver coordinate system and the world coordinate system, < >>Representing a translation matrix relationship between a receiver coordinate system and a world coordinate system, x' si ，y′ si ，z′ si Representing pose coordinates in the receiver coordinate system, x' gi ，y′ gi ，z′ gi Representing pose coordinates in a world coordinate system;
2.2 Establishing an objective function to be solved forThe conversion is to solve the nonlinear optimization problem,
2.3 Recording the initial attitude of the omnidirectional photoelectric receiver as zeta) 0 The posture after random transformation is zeta j By obtainingCalculating the attitude zeta under the coordinate system of the receiver j In the initial posture ζ 0 And (3) representing the mathematical conversion relation as the coordinates:
solving forThus obtaining the posture zeta 0 And zeta is j A transformation relationship between the two.
Preferably, solve forAnd when the method is used, the quaternion method is adopted for solving.
Compared with the prior art, the omnidirectional photoelectric receiver for omnidirectional receiving measurement and the pose measurement method thereof have one or more of the following beneficial technical effects:
1. compared with the planar and spherical receivers in the prior art, the method and the device have the advantages that the incident angle range is small, the operation difficulty is high, the light loss risk is high, the novel omnidirectional measurement method and the device are adopted, the receiving measurement range of laser signals is improved, and the problem of light shielding in complex space scenes is solved.
2. The invention provides an omnidirectional space positioning method of circumferential binding constraint based on the principle of an indoor global laser scanning measurement system, and weakens the constraint condition of weak intersection on complex sites.
Drawings
Fig. 1 shows an omni node location measurement model of the present invention.
Fig. 2 shows an omni-directional attitude measurement model of the present invention.
Fig. 3 shows a block diagram of an omni-directional photo-electric receiver for omni-directional reception measurement of the present invention.
Detailed Description
The present invention is further illustrated below with reference to examples, the contents of which are not to be construed as limiting the scope of the present invention.
Aiming at the problems of small incident angle range, high operation difficulty and large light loss risk of a planar and spherical receiver in the prior art, the invention provides an omnidirectional photoelectric receiver for omnidirectional receiving measurement and a pose measuring method thereof, which improve the receiving measurement range of laser signals and effectively solve the problem of light shielding in complex space scenes.
In describing the omnidirectional photoelectric receiver for omnidirectional receiving measurement and the pose measurement method thereof, the measurement principle of the invention is described first.
Firstly, a multi-base station measurement positioning model is established by utilizing an ALPS measurement principle.
The invention takes M (more than two) transmitting base stations as research measuring units and places the transmitting base stations in a measuring field, wherein a photoelectric sensor is placed at a space point to be measured P, when two laser sectors of each transmitting base station sweep a photoelectric receiver, a space straight line passing through the point to be measured P can be obtained, and the three-dimensional coordinates of P can be determined by 2 transmitting base stations.
And secondly, establishing an omnidirectional photoelectric receiver position measurement mathematical model.
In the invention, establishing an omnidirectional photoelectric receiver position measurement mathematical model specifically comprises the following steps:
1. the M transmitting base stations are distributed in the measurement field, and thus a total of 2M laser plane equations are contained.
2. All-directional photoelectric connectorThe receiver is placed in a measuring field, and J receiving nodes are arranged on the circumference of the designed omnidirectional photoelectric receiver. The number of transmitting base stations received by the omni-directional photoelectric receiver installation node is separately discussed, and O is set 1 The photoelectric receiving nodes can receive more than 2 transmitting base station signals, and O is contained 2 Each photoelectric receiving node can only receive one transmitting base station signal, and the rest O 3 The individual photoelectric receiving nodes cannot receive the transmitting base station signals.
Establishing an omni-directional node location measurement model as shown in FIG. 1, wherein G w G is a receiving node distributed on an omnidirectional photoelectric receiver q For the public measurement point on the omnidirectional photoelectric receiver, the structural parameter D of the omnidirectional photoelectric receiver is combined according to a mathematical model formed by a plurality of transmitting base stations sx A mathematical model may be built:
wherein:
K 1s and K 2s Representing a laser plane equation;
(A M1s ,B M1s ,C M1s )、(A M2s ,B M2s ,C M2s ) Representing laser plane parameters;
(X s ,Y s ,Z s ) Representing the spatial coordinate values of the receiving nodes;
s, x represents the number of the receiving node;
D sx a distance parameter value representing the distance between the receiving nodes s, x;
G s ,G x three-dimensional coordinates of receiving nodes representing the distribution of the omnidirectional measurement model, wherein G s ＝(X s ,Y s ,Z s )，G x ＝(X x ，Y x ，Z x )。
The coordinates of the space to-be-measured point comprise 3 unknowns, and the principle of system measurement is known that when 2M>And 3, obtaining the coordinate value of the receiver space. By analyzing the formula (1), a total of 2J laser plane equations are contained,and (3) according to the distance parameter equation, at least three receiving nodes are needed to be synthesized when the target solves the position, so that 3J unknowns need to be solved, and when J is more than or equal to 3, coordinate values of all receiving nodes distributed on the omnidirectional photoelectric receiver can be obtained through solving. Equation (1) contains a plurality of nonlinear equation sets, usually adopting redundancy design, ensuring that the number of receiving nodes is more than 3,
3. solving the target optimization function T by adopting a nonlinear optimization algorithm min When the objective function tends to be small, an optimal solution of the equation set, that is, coordinates of each node, can be obtained:
where n is the number of receiving nodes, and is 3 or more.
The invention adopts L-M optimization algorithm to solve the objective function T min Is characterized by comprising the following steps of:
(1) J when mounted on omnidirectional photoelectric receiver 0 The receiving node can only receive the optical signal of one transmitting base station, and the iteration initial value can acquire j 0 Every 3 nodes are divided into a group, and the solution is carried out by substituting formula (2).
(2) J when mounted on omnidirectional photoelectric receiver 0 A receiving node can receive an optical signal of a transmitting base station, j 1 Two or more optical signals may be received by each receiving node. j (j) 1 The coordinates of the individual receiving nodes are directly resolved by the ALPS intersection measurement system.
A transmitter can determine a space straight line passing through the point to be measured P, and 2 transmitting base stations can determine the three-dimensional coordinates of P.
Will j 0 And substituting 3 receiving nodes into the formula (2) for resolving.
The omnidirectional measurement model contains a virtual public point to be measured G q Through the solving thought, each section on the omnidirectional photoelectric receiver is obtainedThe space coordinate value of the point under the global coordinate system is further defined by each receiving node G w And a common point to be measured G q The structural distance parameter value between the two can be used for obtaining G q Is set, and is set to be a space coordinate value of (a).
Wherein:
(x q ,y q ,z q ) The three-dimensional coordinates are under a global coordinate system of the public to-be-measured point, (q=1, 2,3 … n);
(x w ,y w ,z w ) Three-dimensional coordinates in a global coordinate system for each receiving node;
D wq is the structural distance parameter value between the public measuring point and each receiving node.
And finally, establishing an omnidirectional photoelectric receiver attitude measurement mathematical model.
When three-dimensional attitude measurement of a target is realized, namely, the three-dimensional attitude measurement is expressed by acquiring conversion relations under different attitudes of the omnidirectional photoelectric receiver, and an omnidirectional receiver attitude measurement model is built, as shown in fig. 2. Respectively setting up receiver coordinate systems O' s -X’ s Y’ s Z’ s Global coordinate system O 'under unified measurement field with ALPS' g -X' g Y’ g Z' g . The receiver coordinate system is established in the following way: with the center of the top surface as the origin O' s The receiving nodes are numbered sequentially according to 1-8, and the origin O 'is the origin' s The connection with node 1 is defined as X-axis direction, origin O' s And node 3 is defined as the Y-axis direction, with the Z-axis direction going vertically upward through the origin.
Coordinate system O' s -X’ s Y’ s Z’ s Relative to O' g -X' g Y’ g Z' g The pose relationship between them can be expressed as:
wherein, (alpha' 0 ,β’ 0 ,γ' 0 ) I.e. 3 Euler angles represent the rotation matrix relationship between the receiver coordinate system and the global coordinate system(sigma, tau, phi) represents a translation matrix relationship between two coordinate systems +.>The two-coordinate conversion relationship can be expressed as follows:
x′ si ，y′ si ，z′ si representing coordinates in the receiver coordinate system, x' gi ，y′ gi ，z′ gi Representing coordinates in the global coordinate system.
Rotation matrixAnd translation matrix->The total number of the unknowns is 6, and if the unknowns are required to be solved, the number of equations to be established is larger than the number of the unknowns, so that at least more than 3 receiving node coordinates are required to be ensured to be known under two coordinate systems when pose parameters are solved. The coordinates of the receiving node in the required conversion relation can be obtained by the principle, and the +.>Converting into solving a nonlinear optimization problem, and establishing an objective function as follows:
for the continuous random transformation measurement gesture of the omnidirectional photoelectric receiver in the measurement field, the initial gesture of the omnidirectional photoelectric receiver is marked as zeta 0 The posture after random transformation is zeta j By obtainingCalculating the attitude zeta under the coordinate system of the receiver j In the initial posture ζ 0 The mathematical transformation relation can be expressed as:
for the aboveThe quaternion method is adopted for solving to obtain the gesture zeta 0 And zeta is j A transformation relationship between the two.
Wherein,representing the conversion relationship between different poses, < >>Representing the transformation relationship of the same point under different coordinate systems.
The quaternion method is used as a method for describing the rotation information of the target in the three-dimensional space, can be used for solving the conversion relation among different coordinate systems, and can accurately describe the posture transformation of the space in real time due to the small storage space and no singularity of the quaternion method, so that the conversion matrix is solved by using the quaternion method. Since the quaternion method belongs to the prior art, it is not described in detail here for the sake of simplicity.
Based on the principle, the omni-directional photoelectric receiver for omni-directional reception measurement can be structurally designed.
As shown in fig. 3, the omnidirectional photoelectric receiver structure adopts a spherical circumferential symmetrical structure design, the layout scheme is that the omnidirectional photoelectric receiver structure is formed by splicing and combining octahedrons vertically staggered by 45 degrees in central angles, the number of detection receiving nodes which are circumferentially arranged and distributed is 16, and the overall structure mainly comprises a base 1, a receiver matrix 2, a photoelectric detector 3, a target ball base 4, a target ball 5 and the like.
Specifically, the omnidirectional photoelectric receiver of the present invention includes a base 1. In order to facilitate centralized management of the hardware circuit lines of the plurality of receiving nodes, the base 1 is provided with a position for installing the hardware circuit adapter plate, the whole base 1 is disc-shaped, and the diameter size of the base 1 is 64mm, and the thickness of the base is 5mm.
The base 1 is provided with a receiver matrix 2. The receiver body 2 comprises a mounting seat and a sphere located on the mounting seat. The mounting seat is mounted on the base 1.
Preferably, an aviation plug hole with the diameter of 12mm is reserved on the mounting seat, so that the electric cable can be conveniently led out.
Eight photoelectric detector mounting holes are formed in the upper hemisphere and the lower hemisphere of the sphere. One photodetector 3 is mounted in each of the photodetector mounting holes.
Wherein, eight photodetectors 3 on the upper hemisphere are horizontally staggered by 45 degrees between any two adjacent photodetectors 3, and eight photodetectors 3 on the lower hemisphere are horizontally staggered by 45 degrees between any two adjacent photodetectors 3. That is, if the sphere is cut through the center point planes of the eight photodetectors 3 on the upper or lower hemisphere, the angle between the center points of the adjacent two photodetectors 3 and the line connecting the centers of the cut planes is 45 °.
And, the photodetectors 3 on the upper hemisphere are horizontally staggered by 22.5 ° with the photodetectors 3 adjacent thereto on the lower hemisphere. That is, the photodetectors 3 on the upper hemisphere are uniformly staggered from the photodetectors 3 on the lower hemisphere adjacent thereto.
Meanwhile, the angle between each photodetector 3 and the longitudinal section of the receiver body 2 is 20 °. That is, the sphere is cut longitudinally along the center of the sphere, and each of the photodetectors 3 makes an angle of 20 ° with the longitudinal cut.
When the omnidirectional photoelectric receiver calculates global coordinates of all receiving nodes, the distance structure parameters among all the nodes need to be calibrated in advance, the reliability of the structure of the installation position part of the photoelectric detector 3 is guaranteed, measurement errors caused by external deformation factors are eliminated, meanwhile, in order to facilitate the calibration of the structural parameters of the subsequent omnidirectional photoelectric receiver, a groove position for installing a target ball base is reserved at the top of the omnidirectional photoelectric receiver, the ALPS target ball is placed, the global coordinates of the position points can be directly measured and obtained, and the coordinate points are the unique virtual public points in the measurement model of the omnidirectional photoelectric receiver.
The three-dimensional structure model design is completed through Soildworks2018 software, the matrix design of the whole omnidirectional photoelectric receiver adopts a 16-surface body configuration, two groups of octahedrons are horizontally staggered for 45-degree circumferential splicing up and down, the number of effective receiving surfaces in the front projection direction of the receiver model is ensured to be 5, and the complementation of the angle coverage range of the installed photocell can be realized through the design. For the conventional single-node photocell, the receiving angle is usually 120 degrees, and on the design of the longitudinal structure angle, the installation method that each receiving surface is inclined by 20 degrees is adopted, so that the coverage range of the longitudinal receiving angle is enlarged.
The base structure adopts a small-sized lightweight design, so that the installation and preparation are simple and convenient, and the main body size of the whole receiver is 70mm multiplied by 70mm, namely, the diameter of the sphere is 70mm. The photoelectric detector has a trapezoid interface with the size of 21.24mm multiplied by 15.85mm multiplied by 19mm, and a cylindrical groove with the diameter of 40.7mm and the depth of 2mm is reserved at the upper end part for placing the target ball base 4.
The above examples of the present invention are merely illustrative of the present invention and are not intended to limit the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. Not all embodiments are exhaustive. All obvious changes or modifications which come within the spirit of the invention are desired to be protected.
Claims (8)
1. An omnidirectional photoelectric receiver for omnidirectional receiving measurement, which comprises a base (1), wherein a receiver base body (2) is arranged on the base (1), the omnidirectional photoelectric receiver is characterized in that the receiver base body (2) comprises a mounting seat and a sphere arranged on the mounting seat, eight photoelectric detector mounting holes are formed in the upper hemisphere and the lower hemisphere of the sphere, one photoelectric detector (3) is arranged in each photoelectric detector mounting hole, 45 degrees of horizontal staggering are carried out between any two adjacent photoelectric detectors (3) in the upper hemisphere, 45 degrees of horizontal staggering are carried out between any two adjacent photoelectric detectors (3) in the lower hemisphere, and 22.5 degrees of horizontal staggering are carried out between the photoelectric detectors (3) on the upper hemisphere and the adjacent photoelectric detectors (3) on the lower hemisphere, and meanwhile, the included angles between each photoelectric detector (3) and the longitudinal base body (2) are 20 degrees.
2. An omnidirectional photoelectric receiver for omnidirectional reception measurements according to claim 1, characterized in that the diameter of the sphere of the receiver base (2) is 70mm, the photodetector (3) is trapezoidal and its dimensions are 21.24mm x 15.85mm x 19mm, i.e. two bottom sides are 21.24mm and 15.85mm, respectively, and the height is 19mm.
3. The omnidirectional photoelectric receiver for omnidirectional receiving measurement according to claim 2, wherein a 40.7mm x 2mm cylindrical recess is left at the upper end of the upper hemisphere of the sphere, a target ball base (4) is mounted in the cylindrical recess and a target ball (5) is provided on the ball base (4).
4. An omnidirectional photoelectric receiver for omnidirectional reception measurement according to claim 3, characterized in that said base (1) is disc-shaped and has a diameter of 64mm and a thickness of 5mm.
5. A method for measuring the pose of an omni-directional photoelectric receiver for omni-directional reception measurement according to any one of claims 1 to 4, comprising the steps of:
1) Establishing a position measurement mathematical model of the omnidirectional photoelectric receiver and solving the position coordinates of each receiving node of the omnidirectional photoelectric receiver;
2) And establishing a mathematical model for measuring the gesture of the omnidirectional photoelectric receiver and solving the gesture of the omnidirectional photoelectric receiver.
6. The method for measuring the pose of an omni-directional photoelectric receiver for omni-directional reception measurement according to claim 5, wherein said step 1) specifically comprises:
1.1 Distributing a plurality of transmitting base stations in a measuring field, wherein each transmitting base station has 2 laser planes;
1.2 Establishing a mathematical model of the omnidirectional photoelectric receiver as
Wherein K is 1s And K 2s Representing a laser plane equation; (A) M1s ,B M1s ,C M1s )、(A M2s ,B M2s ,C M2s ) Is a laser plane parameter; (X) s ,Y s ,Z s ) Space coordinate values for the receiving nodes; s, x is the number of the receiving node; d (D) sx Distance parameter values between the receiving nodes s, x; g s ,G x Three-dimensional coordinates of receiving nodes distributed on the omnidirectional photoelectric receiver;
1.3 Solving a position measurement mathematical model of the omnidirectional photoelectric receiver by adopting a nonlinear optimization algorithm, and giving a target optimization function T min When the objective function tends to be small, an optimal solution of the equation set, i.e. the position coordinates of the respective receiving nodes,
n is the number of receiving nodes.
7. The method for measuring the pose of an omni-directional photoelectric receiver for omni-directional reception measurement according to claim 6, wherein said step 2) specifically comprises:
2.1 Determining the conversion relation between the receiver coordinate system and the world coordinate system as follows:
in the method, in the process of the invention,representing the rotation matrix relationship between the receiver coordinate system and the world coordinate system, < >>Representing a translation matrix relationship between a receiver coordinate system and a world coordinate system, x' si ，y′ si ，z′ si Representing pose coordinates in the receiver coordinate system, x' gi ，y′ gi ，z′ gi Representing pose coordinates in a world coordinate system;
2.2 Establishing an objective function to be solved forThe conversion is to solve the nonlinear optimization problem,
2.3 Recording the initial attitude of the omnidirectional photoelectric receiver as zeta) 0 The posture after random transformation is zeta j By obtainingCalculating the attitude zeta under the coordinate system of the receiver j In the initial posture ζ 0 And (3) representing the mathematical conversion relation as the coordinates:
solving forThus obtaining the posture zeta 0 And zeta is j A transformation relationship between the two.
8. The method for measuring the pose of an omni-directional photoelectric receiver for omni-directional reception measurement according to claim 7, wherein the method for measuring the pose of an omni-directional photoelectric receiver for omni-directional reception measurement is characterized by solvingAnd when the method is used, the quaternion method is adopted for solving.
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