基于姿态角传感器与旋转测距仪的坐标测量

利用姿态角传感器、角度编码器结合激光测距传感器,与全站仪构成非接触的组合测量系统,实现大尺度空间中隐藏区域的空间坐标测量。建立了测量系统的数学模型,设计标定靶并对系统进行了标定。针对测量系统,提出一种根据控制点在空间的分布确定权值的加权最小二乘的标定方法。以全站仪直接测量和组合系统测量两种测量方式,对同一空间点进行坐标测量,通过测量对比来验证组合系统的测量精度。实验结果表明:该测量系统可以使得组合测量的量程扩大并保持较高的空间坐标测量精度,采用加权最小二乘算法进行标定的结果使测量误差更小。

Coordinate measurement based on attitude angle sensor and rotating rangefinder

In order to realize the coordinate measurement of hidden parts in the large-scale space, a combined non-contact measurement system which combined attitude angle sensor, angle encoder, laser rangefinder and total station, was proposed. A mathematical model of the measurement system was established. The calibration target was designed and the measurement system was calibrated. For the measurement system, a calibration method based on the weighted least squares was proposed and the weight value was determined according to the spatial distribution of the control points. The precision of the combined system was verified by comparing the error of the same test point between the spatial coordinate measured directly by the total station and that of measured indirectly by the combined system. Experimental results show that the measurement system could expand the scale and achieve reliable precision during combined measurement and the measurement error of the weighted least squares method is smaller than that of the general least square method.