针对组合式光学扫描系统中转位姿存在的尺度差异问题，提出了一种融合尺度因子的中转位姿标定方法。建立了组合式光学扫描系统数学模型，基于数值模拟探究了全局测量精度相对尺度差异的线性规律。建立了融合尺度因子的中转位姿标定模型，基于张量积展开给出了中转位姿的理论解，并对系统参数和尺度因子进行优化。利用仿真和实验验证了标定方法的有效性和标定精度。结果表明：组合定位精度优于0.1 mm；融合尺度因子的中转位姿提升了组合式光学扫描系统的整体扫描精度。

A transposition pose calibration method integrating scale factor is proposed for the problem of scale difference in the combined optical scanning system. The mathematical model of the combined optical scanning system is established. Then, the changing trend of global measurement accuracy relative to scale difference is explored based on the numerical simulation. The calibration model of transposition pose considering the scale factor is established. With the Kronecker product expansion, the theoretical solution of the transposition pose is given. The system parameters and scale factors are optimized. The effectiveness and accuracy of the calibration method are verified by simulation and experiment. The results show that the combined positioning accuracy is better than 0.1 mm; the transposition pose considering the scale factor significantly improves the overall scanning accuracy of the combined optical scanning system.