一种基于卡尔曼滤波的自由曲面扫描测量方法  

A Kalman Filter Based Free-form Surface Scanning Measurement Method

作　　者：苏鹏 孙晓[1] 于柳[2] 文比强 汤迎红[1] Su Peng;Sun Xiao;Yu Liu;Wen Biqiang;Tang Yinghong(College of Mechanical Engineering,Hunan University of Technology,Zhuzhou,Hunan 412007,China;Library of Hunan University of Technology,Zhuzhou,Hunan 412007,China;Hunan High Precision Special Electric Equipment Co.,Zhuzhou,Hunan 412000,China)

机构地区：[1]湖南工业大学机械工程学院,湖南株洲412007 [2]湖南工业大学图书馆,湖南株洲412007 [3]湖南高精特电装备有限公司,湖南株洲412000

出　　处：《机电工程技术》2023年第3期93-97,共5页Mechanical & Electrical Engineering Technology

基　　金：湖南省2020年度自然科学基金省市联合基金项目(编号:2020JJ6078);湖南省2021年度自然科学基金省市联合基金项目(编号:2021JJ50053)。

摘　　要：将激光位移传感器安装在旋转的机构上实现对自由曲面的内径测量,创新提出了一种基于卡尔曼滤波的高精度补偿算法,有效解决了异形面的激光高精度测量难题。首先介绍分析了激光三角法的测量原理,结合被测对象的结构特点,设计了一种仿形测量方法,采用几何定心的原理,对自由曲面的弧面半径进行高精度的离散测量。建立了标准卡尔曼滤波算法,蒙特卡洛方法用于模拟激光位移传感器测量的半径范围结果,对模拟的范围结果提出运用卡尔曼滤波技术进行误差补偿,并在MATLAB上进行实验仿真,最后对仿真结果进行分析。实验结果表明,该方法能够将数据的标准差降低近50%,并过滤掉明显噪点。该测量方法能应用在不同半径范围的管道自由曲面,有效减小了测量过程中产生的误差,提高了测量精度,为提高管道内径测量精度提供了参考。The laser displacement sensor is mounted on a rotating mechanism to realize the inside diameter measurement of the free-form surface,and a Kalman filter-based high-precision compensation algorithm is innovatively proposed to effectively solve the problem of laser high-precision measurement of the shaped surface.Firstly,the measurement principle of laser triangulation was introduced and analyzed.Combining with the structural characteristics of the measured object,a profiling measurement method was designed to measure the radius of the curved surface of the free-form surface with high precision and discrete accuracy using the principle of geometric centering.A standard Kalman filter algorithm was established,and Monte Carlo method was used to simulate the radius range results measured by the laser displacement sensor.The error compensation using Kalman filter technique was proposed for the simulated range results,and the experimental simulation was carried out on MATLAB,and finally the simulation results were analyzed.The experimental results show that the method is able to reduce the standard deviation of the data by nearly 50%and filter out significant noise.The measurement method can be applied to the freeform surface of pipes with different radius range,effectively reducing the error generated in the measurement process and improving the measurement accuracy,and providing a reference for improving the measurement accuracy of pipeline inner diameter.

关 键 词：激光位移传感器 激光三角法 内径测量 卡尔曼滤波 测量精度 

分 类 号：TN247[电子电信—物理电子学]