车间测量定位系统(wMPS)是一种新型的光电扫描分布式测量系统。为提高其动态坐标测量精度，对wMPS的动态坐标测量原理进行了介绍。以扩展卡尔曼滤波算法(EKF)为基础，建立了匀速直线运动模型。并对模型及算法进行了计算机仿真，结合仿真结果，以ABB IRB 2400工业机器人为实验平台，对所提出的方法进行了实物实验验证。实验结果表明：所应用的EKF算法不但可以替代传统的最小二乘算法，实现对运动物体轨迹的估计，还可以减少wMPS动态测量过程中的随机误差,提高精度,完全满足工业现场对移动物体测量定位的需求。

Workshop measuring and positioning system (wMPS) is a new kind of distributed coordinate measuring system based on photoelectric scanning. In order to further improve the dynamic coordinate measuring precision of wMPS, a brief introduction of wMPS dynamic coordinate measurement principle is presented. Based on the algorithm of extended Kalman filter (EKF), the model of uniform linear motion is established. Afterwards model and algorithm are simulated with computer. Based on the simulation results, the proposed method is verified experimentally, using ABB IRB 2400 industrial robot as the experiment platform. Experimental results indicate that the EKF algorithm can not only substitute the traditional least squares algorithm and estimate the trajectory, but also reduce the dynamic random errors in the measurement process and improve the system positioning accuracy. The proposed algorithm basically meets the requirements of industrial field measurement for dynamic object positioning.