激光跟踪仪高精度测量运动物体位姿的研究

为了实现运动物体空间位姿高精度的实时测量,基于激光跟踪仪测量的地理坐标系的方法,采用两个激光跟踪仪分别瞄准运动物体首尾两处的标靶,两台激光跟踪仪同步触发采集数据,实时获取运动物体首尾两点的空间坐标数据,测量了运动物体在空间地理坐标系下的位置和姿态信息;利用自主研发的软件计算了运动物体的空间位姿,并进行了理论分析和实验验证。结果表明,测量系统的稳定性与精度较好,所提出的测量方法能够满足高精度的空间位姿测量要求。

High precision measurement of position and posture of kinetic objects with laser trackers

In order to realize real-time position and posture measurement of kinetic objects with high precision , based on measurement principle of geographic coordinates with laser trackers , the fore and aft parts of a kinetic object were aimed at with two laser trackers respectively .Both the laser trackers were triggered to collect data synchronously , and real-time spatial coordinates of the fore and aft parts of the kinetic object were obtained .The position and posture of the kinetic object in spatial geographic coordinate were measured .The spatial position and posture were calculated with a software developed by ourselves . After theoretical analysis and experimental verification , the results show that the stability and precision of the measurement system are pretty well and the proposed method can satisfy the high precision requirements for measurement of spatial position and posture.