基于多位姿标靶的激光跟踪姿态测量系统参数标定  

Parameter calibration of laser tracking attitude measurement system based on multi-position targets

作　　者：熊芝[1] 钟陈小鹏 张昊 贾小东 郭政南 赵子越[2] 翟中生[1] 周维虎 XIONG Zhi;ZHONG Chenxiaopeng;ZHANG Hao;JIA Xiaodong;GUO Zhengnan;ZHAO Ziyue;ZHAI Zhongsheng;ZHOU Weihu(Hubei Key Laboratory of Modern Manufacture Quaity Engineering School of Mechanical Engineering,Hubei Wniversity of Technology,Wuhan 430068,China;Changcheng Institute of Metrology&Measurement,Beijing 100095,China;Institute of Microelectronics,Chinese Academy of Sciences,Beijing 100029,China)

机构地区：[1]湖北工业大学机械工程学院现代制造质量工程湖北省重点实验室,湖北武汉430068 [2]航空工业北京长城计量测试技术研究所,北京100095 [3]中国科学院微电子所,北京100029

出　　处：《光学精密工程》2025年第1期13-24,共12页Optics and Precision Engineering

基　　金：国家重点研发计划重点专项(No.2019YFB2006100);湖北省创新群体项目(No.2022CFA006)。

摘　　要：基于激光跟踪的六自由度(6DoF)测量系统在大型设备生产、制造、装配等环节具有广泛的应用,其中姿态测量精度是实现高精度位姿测量的保障。为解决激光跟踪姿态测量系统在远距离大视场中的标定问题,提出一种建立在多位姿标靶上的系统标定方法。以基于相机的激光跟踪姿态测量系统为研究对象,介绍了该系统的组成及姿态测量原理;其次对系统姿态求解算法性能进行了分析,得出对系统标定精度的影响因素;并在此基础上提出一种基于空间多位姿标靶的系统参数标定方法,基于空间几何约束和最小二乘原理,实现了标定参数的最优求解;最后,搭建基于全站仪的激光跟踪实验平台,使用移动标定板构建立体标靶进行标定。实验结果表明:在3~15 m的测量范围内,采用本文标定方法的姿态测量精度相较于改进前可提升25.4%以上。该方法在远距离大视场测量中具有重要的应用价值。The six-degree-of-freedom measurement system based on laser tracking plays a critical role in the production,manufacturing,and assembly of large-scale equipment,where accurate pose measurement is essential for ensuring precise determination of position and orientation.To address the challenges of cali-bration in laser tracking pose measurement systems operating in long-distance and wide-field scenarios,this study presents a novel calibration method leveraging multi-position targets.The methodology focuses on laser tracking systems utilizing cameras,starting with a detailed introduction to the system's architec-ture and pose measurement principles.Subsequently,the pose-solving algorithm is analyzed to identify key factors influencing calibration accuracy.Based on this analysis,a parameter calibration method is de-veloped using spatial multi-pose targets,employing spatial geometric constraints and the least squares prin-ciple for optimal parameter estimation.A laser tracking experimental platform,constructed with a total station and a movable calibration board designed to create a stereotactic target,is used to evaluate the pro-posed method.Experimental results demonstrate that,within a measurement range of 3-15 m,the pro-posed calibration method enhances pose measurement accuracy by over 25.4%compared to conventional techniques.This method offers significant potential for applications requiring high-precision pose measure-ments in long-distance and wide-field environments.

关 键 词：激光跟踪 姿态测量 远距离 大视场 标定 

分 类 号：TB92[一般工业技术—计量学] TH744[机械工程—测试计量技术及仪器]