面向激光跟踪仪跟踪恢复的伺服运动角度计算方法

为了解决激光跟踪仪跟踪恢复过程中快速精确的获取伺服运动角度问题，提出了一种面向激光跟踪仪跟踪恢复的伺服运动角度计算方法。首先阐述了基于主动红外探测的激光跟踪仪跟踪恢复原理与合作目标靶球视觉目标检测特点，并分析了跟踪恢复过程中光轴视轴非共轴不平行问题所导致的伺服运动角度非线性变化问题；其次，构建了目标距离、目标像素偏差值与伺服运动角度关系的计算模型，完成了基于整定数据的模型参数整定；最后，开展了验证实验并进行了精度分析。实验结果表明，计算模型得到的跟踪恢复角度与实际跟踪恢复角度差值不大于0.007 7°,最大偏移距离误差小于2 mm,满足激光跟踪仪跟踪恢复的应用要求。

Calculation method of servo motion angle for laser tracker tracking recovery

To solve the problem of obtaining the servo motion anglequickly and accurately in the process of tracking recovery of laser tracker,this article proposes a calculation method of servo motionangle for tracking recovery of laser tracker. Firstly, the principle of tracking recovery of laser tracker based on active infrared detectionand the characteristics of visual target detection of cooperative target are expounded, and the problem of nonlinear change of servo motion angle caused by the non-coaxis and non-parallel problem of optical axis and visual axis in the tracking recovery process is analyzed.Secondly,the calculation model of the relationship among the target distance, the target pixel deviation value and the servo motion angle is formulated, and the model parameter tuning based on the tuning data is completed. Finally, the verification experiment and the accuracy analysis are carried out. The results show that the difference between the tracking recovery angle obtained by the calculation model and the actual tracking recovery angle is not more than 0.007 7°, and the maximum offset distance error is less than 2 mm,whichmeet the application requirements of laser tracker tracking recovery.