一种融合激光全局定位的大尺寸点云重建系统标定方法  

A calibration method of large-scale point cloud reconstruction system based on fusion of laser global positioning

作　　者：张磊蒙 田军委[1] 刘青[2] 贾昆 闫明涛 ZHANG Leimeng;TIAN Junwei;LIU Qing;JIA Kun;YAN Mingtao(School of Mechanic and Electronic Engineering,Xi'an Technological University,Xi'an 710032,China;School of Automation and Information Engineering,Xi'an University of Technology,Xi'an 710054,China;Xi'an Aero-common Measurement and Control Technology,Xi'an 710075,China)

机构地区：[1]西安工业大学机电工程学院,西安710032 [2]西安理工大学自动化与信息工程学院,西安710054 [3]西安航通测控技术有限责任公司,西安710075

出　　处：《激光杂志》2022年第5期23-28,共6页Laser Journal

基　　金：国家自然科学基金项目(No.51875447);陕西省重点研发计划(No.S2018-YF-ZDGY-0583)。

摘　　要：大尺寸点云重建是飞机等大型装备逆向工程、缺陷检测领域的重要手段之一,在分析大尺寸点云重建系统目标点云全局拼接时高精度激光定位系统和结构光扫描仪坐标系融合统一问题的基础上,提出了一种TCS-Q(过渡坐标系-四元数)参数标定方法。该方法结合点云重建系统模型和点云全局融合原理,建立光电接收器过渡坐标系确定标定对象,分析标定过程的数学模型,研究各坐标系之间转换关系的求解方法。系统仿真实验结果表明标定结果的三轴角分量标准差低于0.0165°,离散系数小于0.015。对数显尺上光电接收器空间位置进行距离测量实验,实验结果表明,标定完成后的系统测量精度优于±0.1 mm,为实现点云拼接环节的高精度全局定位引导提供了理论基础。Large-scale point cloud reconstruction is one of the important means in the field of reverse engineering and defect detection of large-scale equipment such as aircraft.Based on the analysis of the problem of coordinate system fusion and unification between accurate laser positioning system and structured light scanner when the target point cloud of large-scale point cloud reconstruction system is global spliced,a TCS-Q(Transition Coordinate System-Quaternion)parameter calibration method is proposed.This method combines the point cloud reconstruction system model and the global fusion principle of point cloud,establishes the photoelectric receiver transition coordinate system to determine the calibration object,analyzes the mathematical model of the calibration process,and studies the solving method of the conversion relationship between the coordinate systems.The system simulation results show that the standard deviation of the three-axis angle component of the calibration results is less than 0.0165°,and the discrete coefficient is less than 0.015.The distance measurement experiment is carried out on the spatial position of the photoelectric receiver on the logarithmic ruler.The experimental results show that the measurement accuracy of the system after calibration is better than±0.1 mm,which provides a theoretical basis for the high-precision global positioning guidance of point cloud splicing.

关 键 词：ALPS 结构光扫描仪 参数标定 过渡坐标系 四元数 

分 类 号：TN209[电子电信—物理电子学]