Research On Laser Tracking Attitude Measurement Method Based On PSD And Monocular Vision

With the rapid development of high-end manufacturing fields such as automobile and ship,rail transit,aerospace,military defense,as well as various advanced research and construction fields,attitude measurement technology is widely applied to such construction and high precision processing and manufacturing field,at the same time,the complexity of the measurement environment and the requirements of high precision measurement propose a greater challenge to the attitude measurement.The realization of high precision attitude measurement has an important influence on improving production efficiency,manufacturing accuracy,construction rationality and construction safety in engineering construction and manufacturing.Aiming at the demand of high precision measurement of attitude Angle in modern production and construction,this paper constructs an attitude measurement system with laser tracking equipment as the base station,proposes an attitude measurement method based on PSD and monocular vision,and builds a software and hardware platform of the measurement system to verify the feasibility of the measurement method.This paper discusses the topic background,measurement principle,system construction,error analysis,experimental conclusion and other aspects in turn,the main research content is organized as follows:1)A laser tracking attitude measurement method is proposed.According to the different expressions of laser beam unit vector in different coordinate systems,the transformation relation formula is established.A method of attitude measurement based on PSD and monocular vision is proposed,the beam vector measurement based on PSD,the roll Angle measurement based on monocular vision and the relative attitude calibration method of coordinate system are studied,and the mathematical model of attitude Angle solution is built on this basis.2)A laser tracking attitude measurement system is built.From the hardware level to complete the measurement system equipment selection,platform construction and cooperative target design and production;The functions of data preprocessing,image processing,feature point matching and attitude Angle solving are realized from the software level,and the interface program of attitude measurement is designed.3)The error analysis model of attitude measurement system is established.Analyze the main error sources of the measurement system,establish the error model of the measurement system,based on Monte Carlo method,the error simulation analysis is done.Based on the error analysis,the error correction method is proposed.4)The experimental verification of attitude measurement was completed.Combined with the existing experimental equipment,the experimental platform for attitude measurement was built.The three-degree-of-freedom swing platform was selected as the carrier,and the measured attitude Angle of six-axis absolute joint armwas used as the reference for the Angle variation to complete the repetitive measurement experiment and attitude measurement experiment.The experimental results show that the attitude measurement system has good stability,and the absolute value of the attitude measurement error can be less than 2 ° in the effective Angle measurement range [-20°,20°] and at the measuring distance of 2.5m.