Study On The Dynamic Measuring And Positioning Method And Technique Based On The WMPS Spatial Measurement Field

The wMPS,which is short for workspace Measuring and Positioning System,is a novel large-scale three-dimensional coordinate measurement network based on optoelectronic scanning.It has such advantages as large measurement scale,high degree of automation,strong anti-interference ability,noise rejection,multi-task and real-time measurement.At present,most research focus on the static measurement property and precision of the wMPS.However,the research on the dynamic measurement property and measurement error analysis is insufficient.This thesis builds the dynamic measurement error model of the wMPS on the basis of optimization of the orientation parameter calibration.And based on the model,the dynamic measurement error is reduced by using the synchronization error compensation method between different transmitters and the Kalman filter pattern.Verified by experiments,the dynamic property of the wMPS is eventually improved.The idiographic work is as follows:1.It summarized the urgent requirement for advanced large-scale three-dimensional dynamic coordinate measurement technique in large-scale equipment manufacturing industry,analyzed the advantages and limitations of the existing measurement techniques,expound the potential capacity of the wMPS for solving the on-spot problems in the dynamic measurement.In the meantime,it analyzed the dynamic measurement features,especially the impact on the dynamic measurement by phase error and synchronization error,which provided the theory basis for the improvement of the dynamic measurement performance.2.The premise condition for realizing the dynamic property of the wMPS is to establish a high-precision measurement network.Two orientation parameter calibration methods were introduced: one was based on high-precision control network and the other was based on geometric constraint.Both of the calibration models and methods to obtain iterative initial value were stated.And eventually,experiment data showed that both methods are favourable to improve the measurement accuracy.3.The influence caused by synchronization error of different transmitters was studied.On the basis of optimization of the system hardware based on FPGA,Lagrange's interpolation was used to solve this problem.At last,we designed the experiment to testify the feasibility and accuracy of this method.4.To further reduce the dynamic measurement error,the dynamic measurement models based on principles of linear Kalman filter and extended Kalman filter were proposed.An elimination method based on principle of Kalman filter was presented to solve the problem of outliers in the dynamic measurement results.The simulation and experiments were designed to verify the validity and availability of Kalman filter for improving the capacity of dynamic measurement.5.The practical engineering application is very important to test the dynamic measurement property of the wMPS.The GNC simulation experiment in aerospace industrial field is a very appropriate verification platform for the wMPS.By using the orientation parameter calibration method and dynamic error compensation method,the wMPS can achieve the dynamic requirement of practical engineering application.