基于光电鼠标与惯性导航数据融合的定位系统  

Data fusion of optical mouse and inertial measurement for NDT positioning

作　　者：房海基 高向东[1] 叶国良 郭建文[2] 杨宇辉[2] FANG Haiji;GAO Xiangdong;YE Guoliang;GUO Jianwen;YANG Yuhui(School of Mechanical and Electrical Engineering,Guangdong University of Technology,Guangzhou 510006,CHN;School of Mechanical Engineering,Dongguan University of Technology,Dongguan 523000,CHN)

机构地区：[1]广东工业大学机电工程学院,广东广州510006 [2]东莞理工学院机械工程学院,广东东莞523000

出　　处：《制造技术与机床》2021年第3期112-117,共6页Manufacturing Technology & Machine Tool

基　　金：广东省自然科学基金项目(2017A030313690);广东省普通高校省级重大科研项目(2017KZDXM082)。

摘　　要：在超声无损检测人工操作超声探头移动过程中,由于检测点无法自动定位与记录位置而容易导致错检漏检等问题。提出了一种基于光电鼠标位移传感器与惯性导航单元的新型自动定位与位置记录方法。通过惯性测量单元实时采集加速度、角速度与地磁计等数据,经过自适应卡尔曼滤波算法融合,得到定位系统姿态角的最优估计。通过传感器的运动学分析与坐标变换,解算出定位点的世界坐标值。实验结果显示,该方法稳定性好,短时精度高,有望能够满足超声无损检测过程中超声探头的实时位置标记。Due to the lack of position information during manual ultrasonic non-destructive testing,it is hard to fully cover all inspection points and the defective locations have to be recorded manually.This paper presents a transducer positioning system using the combination of an optical mouse sensor and an inertial measurement unit.An adaptive Kalman filter is proposed to estimate the optimal angle of the transducer by fusing the data of acceleration and angular velocity measured from the inertial measurement unit.The position of the transducer is finally estimated by combining the optimal angle of the transducer and the displacement measured from the optical mouse.Experimental results show that the system can produce an accurate and robust position,which would be promising for automatically record the location of the transducer during manual ultrasonic inspection.

关 键 词：超声检测 光电鼠标 惯性导航 自适应卡尔曼滤波 运动学分析 定位 

分 类 号：TP212.9[自动化与计算机技术—检测技术与自动化装置]