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采用互扫描法自动标定工作空间定位系统

Self-calibration of workspace measurement and positioning system by using inter-scanning

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摘要

针对工作空间定位系统(wMPS)现有标定技术效率低,标定程序复杂且须依赖外部测量设备等问题,本文在在研究wMPS测量原理的基础上提出了一种采用互扫描技术的自动标定方法.该方法结合该系统的扫描激光平面测量原理及使用特点,通过在基站上安装已知坐标的接收传感器,采用互扫描技术完成自动标定.文中以两台基站为基础,详细阐述了该方法的数学原理,并给出了基于几何约束的平差模型及其迭代解法.依托天津大学研发的wMPS实验平台对本方法进行了验证,并与基准尺标定法进行了比对.实验结果显示,采用本方法可以实现系统的自动标定,在距离基站5 m内的测量空间内可获得0.6 mm的坐标测量精度.该方法在保证系统测量精度的同时大大提高了系统的测量效率.

Abstract

As workspace Measurement and Positioning System(wMPS) has lower calibration efficiency,complex algorithms and relying on auxiliary equipment,this paper presents a novel self-calibration method by using inter-scanning method.According to the multi-place intersection theory and system application characteristics,the automatic calibration was implemented by a inter-scanning technology on receivers mounted on the laser stations whose coordinates were known in advance.On the basis of two laser stations,the mathematical theory of the method was described,and the optimal algorithm(adjustment model) based on the geometrical constraint characteristics of the system was given in detail.The method was verified on a wMPS experimental platform developed by Tianjin University and was compared with the standard rule calibration method.The experimental results demonstrate that the inter-scanning method is an efficient solution for calibration of the stations,and the accuracy of the system achieves 0.6 mm in the space 5 m away from the station.Thus,the method proposed improves the calibration efficiency of the system while maintaining the measurement accuracy.

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中图分类号:TN247;TH72

DOI:10.3788/ope.20152303.0609

所属栏目:现代应用光学

基金项目:国家杰出青年基金资助项目(No.51225505);国家863高技术研究发展计划资助项目(No.2012AA041205);国家自然科学基金资助项目(No.51305297);高等学校博士学科点专项科研基金资助项目(No.20130032120067)

收稿日期:2014-05-04

修改稿日期:2014-06-02

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作者单位    点击查看

任永杰:天津大学 精密测试技术及仪器国家重点实验室,天津 300072
邾继贵:天津大学 精密测试技术及仪器国家重点实验室,天津 300072
吴军:中国民航大学 航空自动化学院,天津 300300
薛彬:天津大学 海洋科学与技术学院,天津 300072
杨凌辉:天津大学 精密测试技术及仪器国家重点实验室,天津 300072

联系人作者:任永杰(yongjieren@tju.edu.cn)

备注:任永杰(1975-),男,河北河间人,博士,讲师,1998 年于华北电力大学分别获得学士学位,2004年,2007 年于天津大学获得硕士、博士学位,主要从事激光及光电测试,视觉检测技术,机器人控制及机器人测量技术方面的研究.

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引用该论文

REN Yong-jie,ZHU Ji-gui,WU Jun,XUE Bin,YANG Ling-hui. Self-calibration of workspace measurement and positioning system by using inter-scanning[J]. Optics and Precision Engineering, 2015, 23(3): 609-616

任永杰,邾继贵,吴军,薛彬,杨凌辉. 采用互扫描法自动标定工作空间定位系统[J]. 光学 精密工程, 2015, 23(3): 609-616

被引情况

【1】黄喆,杨凌辉,赵子越,任瑜,邾继贵,叶声华. 基于扩展卡尔曼滤波的光电扫描动态坐标测量算法研究. 激光与光电子学进展, 2016, 53(5): 51201--1

【2】吴 军,于之靖,诸葛晶昌,薛 彬. 采用红外扫描激光与超声技术的室内空间定位. 光学 精密工程, 2016, 24(10): 2417-2423

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