三维姿态测量系统的安装误差  

Installation errors of three-dimension pose measurement systems

作　　者：朱国力[1] 文香稳[1] 潘明华[1] 

机构地区：[1]华中科技大学数字制造装备与技术国家重点实验室,湖北武汉430074

出　　处：《华中科技大学学报（自然科学版）》2011年第5期1-5,共5页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家重点基础研究发展计划资助项目(2007CB714005)

摘　　要：研究了倾角仪相对于电荷耦合器件的倾斜安装误差的标定方法和补偿技术.运用旋转矩阵描述了传感器之间的相对位置关系,并由此定义了3个安装误差参数,通过旋转矩阵的复合变换推导了测角系统因倾斜安装倾角仪而造成的测量误差的表达式,采用蒙特卡罗方法分别分析了3个安装误差参数对系统测量误差的影响,最后给出了3个安装误差参数的标定方法并进行了基于高精度三轴转台的安装误差补偿实验.实验证明所提方法有效地减小了倾角仪的倾斜安装误差对角度测量的影响,使系统获得了更高的测量精度.An approach to calibrate and compensate the inclinator^s slanting installation error relative to the charge coupled device （CCD） camera was studied based on the rotation algorithm of spatial coordinate. Relative position relationship between the inclinator and the CCD camera was described by the rotation matrix and three installation error parameters were defined. The expressions of the sys- tem＇s measurement errors resulting from the inclinator＇s slanting installation error were deduced via the compound transformation of rotation matrix. The impact of each installation error parameter on the system＇s measurement error was analyzed respectively using Monte Carlo method. Finally, the way to calibrate the three installation error parameters was proposed and a compensation experiment of the installation error on a highly accurate three-axis turntable was presented. The given experiment demonstrates that the proposed method reduces the influence of the inclinator＇s slanting installation error on measuring angle effectively and enables the system to get a higher measurement precision.

关 键 词：姿态测量 安装误差 倾角仪 电荷耦合器件 旋转矩阵 蒙特卡罗法 

分 类 号：TH312[机械工程—机械制造及自动化]