采用红外扫描激光与超声技术的室内空间定位  

Indoor positioning by using scanning infrared laser and ultrasonic technology

作　　者：吴军[1] 于之靖[2] 诸葛晶昌[2] 薛彬[3] WU Jun YU Zhi-jing ZHUGE Jing-chang XUE Bin(College of Aeronautical Engineering, Civil Aviation University of China, Tianj in 300300, China College of Electronic Information and Automation, Civil Aviation University of China, Tianjin 300300, China School of Marine Science and Technology, Tianjin University, Tianjin 300072, China)

机构地区：[1]中国民航大学航空工程学院,天津300300 [2]中国民航大学电子信息与自动化学院,天津300300 [3]天津大学海洋科学与技术学院,天津300072

出　　处：《光学精密工程》2016年第10期2417-2423,共7页Optics and Precision Engineering

基　　金：国家自然科学基金与民航联合基金资助项目(No.U1533111;No.U1333105);国家自然科学基金资助项目(No.61405246;No.61505140)

摘　　要：为了解决当前定位方法无法兼顾高精度、高集成度、多任务性、实时性测量的问题,提出了一种基于激光测距原理的室内空间定位系统。该方法通过单台测量基站向被测空间内发射旋转扫描红外激光信号以及超声脉冲信号,采用旋转扫描红外激光形成多平面约束,采用高精度超声测距形成距离约束。然后,将多平面约束与距离约束相耦合,得到测量靶标的非线性约束方程组。最后,利用非线性最优化算法解算得到测量靶标的精确空间坐标。该方法仅采用单台测量基站即可完成全周向、多任务实时性的空间测量与定位。采用激光跟踪仪系统作为比对基准验证了本方法的测量精度及可靠性。结果显示,在5m的被测空间内,其定位测量误差在0.3mm以内,可满足大多数工业测量应用场合需求。与传统的室内定位方法相比,本方法极大地提高了测量系统的集成度以及测量效率,为全站式空间定位方法提供了新的思路。Because traditional positioning methods can not satisfy its requirements for high accuracy,high integration,multi-task and real-time,an indoor positioning method by using laser ranging technology is proposed for industrial manufacturing fields.This method transmits rotation scanning plane laser signals and ultrasonic pulse signals through a measurement base station.It uses rotation scanning plane infrared laser to form a multi-plane constraint,and uses high precision ultrasonic ranging to form a distance constraints.Then the plane constraint and distance constraint are fused to obtainanonlinear constraint equation set.Finally,the nonlinear optimal algorithm is used to calculate and obtain the accurate 3Dcoordinates of the target bar.The method achieves omnidirectional,multi-task and real-time positioning by using a total station.A laser tracker is taken as standard to verify the measuring accuracy and reliability of the proposed method.The experiment results show that the positioning measurement error of the method is less than 0.3 mm within a 5 mrange,which meets the most industrial fields.As compared with that of the traditional indoor positioning methods,the proposed method improves the integration level and measuring efficiency and provides a new way for whole station positioning methods.

关 键 词：室内空间定位 扫描红外激光 超声测距 激光测距 非线性约束 

分 类 号：TN247[电子电信—物理电子学]