基于视觉正交迭代法改进的激光跟踪姿态测量

针对航空航天、汽车船舶以及机器人应用等领域对姿态精准测量的需求,研究了一种基于视觉加权加速正交迭代 (WAOI)的激光跟踪姿态角测量方法。 首先阐述了测量系统组成、建立了数学测量模型,并分析了系统的主要误差源;其次 在正交迭代(OI)的基础上,通过物方重投影误差设置参考点权重系数,引入常系数矩阵整合迭代过程中的冗余计算,提出了 一种 WAOI 算法,并通过实验验证了算法的性能;最后搭建实验平台,利用精密二维转台对基于 WAOI 的姿态角测量进行精 度评定。 结果表明,在-20° ~ 20°角度范围内,3 ~ 15 m 测量范围内,方位角精度可达 0. 11°,俯仰角精度可达 0. 26°。 相较比 例正交投影迭代变化(POSIT) ,方位角和俯仰角测角精度均提升 75% 以上。 本文提出的 WAOI 算法有效提升了激光跟踪姿 态测量系统的精度。

Laser tracking attitude measurement based on improved visual orthogonal iterative method

Aiming at the requirement of precise attitude measurement in the fields of aerospace, automobile and ship, and robot application, a laser tracking attitude angle measurement method based on visual weighted accelerated orthogonal iteration ( WAOI) is studied. Firstly, the composition of system is described, the mathematical measurement model is established, and the main error sources of system are analyzed. Secondly, on the basis of orthogonal iteration (OI), the weight coefficient of reference point was set by the object square reprojection error, and a WAOI algorithm was proposed to integrate the redundant calculation in the iterative process by introducing constant coefficient matrix, and the performance of the algorithm was verified by experiment. Finally, an experimental platform is built, and a precision two-dimensional turntable is used to evaluate the accuracy of the attitude angle measurement based on WAOI. The results show that within the angle range of -20° ~ 20° and within the measurement range of 3~ 15 m, the azimuth accuracy can reach 0. 11° and the pitching accuracy can reach 0. 26°. Compared with the proportional orthogonal projection iterative change (POSIT), the accuracy of azimuth and pitch angle is improved by more than 75% . The WAOI algorithm proposed in this paper effectively improves the accuracy of laser tracking attitude measurement system.