网络化旋转激光经纬仪的现场平差标定方法

针对网络化旋转激光经纬仪定位系统在现场环境中标定精度低、过程复杂以及成本高等问题,提出了一种高精度快速的现场平差标定方法。利用标定杆采集空间标定点建立发射机与标定杆坐标系转换关系,间接联系发射机之间的位姿关系,并采用最小二乘原理求解系统外参数估算值；以外参数估算值为初值,采用非线性优化的方法求解系统外参数最优值,实现系统全局标定。该现场平差标定方法实现了在5000 mm×5000 mm范围内系统测量精度为0.12 mm,重复定位精度为0.02 mm,能够满足实际现场应用要求。

Field adjustment calibration method of network rotary laser theodolites

As positioning system of network rotary laser theodolites (R-LTs) has low accuracy,complex process and high cost of calibration in the field environment,a high-precision and rapid field adjustment calibration method is proposed.The transform relations between the coordinate system of transmitters and the coordinate system of calibration bar are established by collecting space calibration points using a calibration bar.As a result,the pose relations of transmitters are indirectly linked.And the estimated value of the external parameter is solved by the least square principle.Then the estimated value is used as initial value to compute the optimal solution of the external parameter using non-linear optimization methods.And a global calibration is realized finally.The experimental results show that the field adjustment calibration method realizes that the measurement precision of system is 0.12 mm and repeatability precision is 0.02 mm in the range of 5000 mm×5000 mm,which can satisfy the practical field application requirements.