基于光电扫描的大尺度空间坐标测量定位技术研究
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摘要
大空间尺度的坐标测量是大型装备制造及精密工程的基础支撑技术之一,也是目前精密测量研究的热点和难点。近年来基础工业及重工业迅速发展,数字化程度不断加深,对现场大尺度空间坐标测量技术提出了更加迫切的需求。本文针对现场大尺度空间坐标测量的特点,围绕多站多点并行测量、自动识别及全局测量网络的建立方法等问题进行了研究,主要的研究工作如下:
1、在分析以经纬仪为代表的多站角度交汇坐标测量方法的基础上,对基于光电扫描的角度交汇坐标测量原理进行了研究,并提出了实现方案,推导了角度测量公式,建立了坐标测量方程。
2、分析了光电扫描坐标测量系统主要误差来源及影响,推导了角度测量误差传递公式,对发射站光平面参数进行了优化设计。建立了坐标测量误差模型,研究了扫描角度测量误差对最终坐标测量误差的影响,并分析了系统最佳测量位置。提出了基于共面约束的系统误差修正方法。
3、根据激光发射站结构参数的空间性质提出了基于经纬仪的结构参数标定方法,设计了标定靶标,研究了相关标定算法。提出了基于共面约束平差的发射站全局测量网络定向方法,给出了约束方程并使用L-M算法对所构造的非线性方程进行了优化求解。
4、对测量系统进行了初步验证,并将激光扫描测量技术应用到工业测量中。使用两台发射站组成光电扫描大尺寸坐标测量系统,对航空夹具顶端平台的空间位移进行测量,以校准夹具定位系统。同时使用跟踪仪进行对比测量,验证了扫描测量系统的测量精度。
Three-dimensional coordinate measurement within large-scale volume is one of the basic supporting technologies in large-scale equipment manufacturing industry and precision engineering, which is also a hot difficult problem in precision measurement technology nowadays. There is an urgent need for field large-scale spatial coordinate measurement in heavy industry and basic industry due to the rapid development and the deepening degree of digitization. Considering the characteristics of industrial large-scale coordinate measurement, the aim of this thesis is to study problems of par-allel measurement with multi-station and multi-point, automatic identification of measuring points and the establishment method of the global measurement network, main research work contained in this thesis is as follows:
1、Based on the analysis of theodolite intersection large-scale coordinate meas-urement system, an automatic coordinate measurement technique based on optical scanning was studied, and a system implementation is persented. Space angle meas-urement formula using new method is derived and coordinate measurement equation based on angle intersection measurement is build up.
2、With the analysis of the impact of major error sources in current measure-ment system error transfer function of angle measurement is derived and transmitter's scanning plane parameters were optimized according to derived formula. Coordinate measurement error model was established, which studies the coordinate measuring error caused by angle measuring error. Moreover, an optimum measuring position of a two-station system was analysed. In addition,A system error correction method based on coplanar constraint was proposed
3、Calibration method of transmitter station's structural parameters was imple-mented by using theodolites according to the spatial features calibration target was designed and the relevant calibration algorithm was studied. An orientation approach of transmitter stations in global measurement coordinate system based on coplanar constraint adjustment is presented; constraint equations were carried out and calcu-lated by levenberg-marquardt algorithm.
4、Angle measurement function of system was validated. An optical scaning large-scale coordinate measuring system composed of two stations was used for measuring spatial position of aviatic jig platform. Leica laser tracker was also used to compare and verify the accuracy of scanning measurement system.
1、在分析以经纬仪为代表的多站角度交汇坐标测量方法的基础上,对基于光电扫描的角度交汇坐标测量原理进行了研究,并提出了实现方案,推导了角度测量公式,建立了坐标测量方程。
2、分析了光电扫描坐标测量系统主要误差来源及影响,推导了角度测量误差传递公式,对发射站光平面参数进行了优化设计。建立了坐标测量误差模型,研究了扫描角度测量误差对最终坐标测量误差的影响,并分析了系统最佳测量位置。提出了基于共面约束的系统误差修正方法。
3、根据激光发射站结构参数的空间性质提出了基于经纬仪的结构参数标定方法,设计了标定靶标,研究了相关标定算法。提出了基于共面约束平差的发射站全局测量网络定向方法,给出了约束方程并使用L-M算法对所构造的非线性方程进行了优化求解。
4、对测量系统进行了初步验证,并将激光扫描测量技术应用到工业测量中。使用两台发射站组成光电扫描大尺寸坐标测量系统,对航空夹具顶端平台的空间位移进行测量,以校准夹具定位系统。同时使用跟踪仪进行对比测量,验证了扫描测量系统的测量精度。
Three-dimensional coordinate measurement within large-scale volume is one of the basic supporting technologies in large-scale equipment manufacturing industry and precision engineering, which is also a hot difficult problem in precision measurement technology nowadays. There is an urgent need for field large-scale spatial coordinate measurement in heavy industry and basic industry due to the rapid development and the deepening degree of digitization. Considering the characteristics of industrial large-scale coordinate measurement, the aim of this thesis is to study problems of par-allel measurement with multi-station and multi-point, automatic identification of measuring points and the establishment method of the global measurement network, main research work contained in this thesis is as follows:
1、Based on the analysis of theodolite intersection large-scale coordinate meas-urement system, an automatic coordinate measurement technique based on optical scanning was studied, and a system implementation is persented. Space angle meas-urement formula using new method is derived and coordinate measurement equation based on angle intersection measurement is build up.
2、With the analysis of the impact of major error sources in current measure-ment system error transfer function of angle measurement is derived and transmitter's scanning plane parameters were optimized according to derived formula. Coordinate measurement error model was established, which studies the coordinate measuring error caused by angle measuring error. Moreover, an optimum measuring position of a two-station system was analysed. In addition,A system error correction method based on coplanar constraint was proposed
3、Calibration method of transmitter station's structural parameters was imple-mented by using theodolites according to the spatial features calibration target was designed and the relevant calibration algorithm was studied. An orientation approach of transmitter stations in global measurement coordinate system based on coplanar constraint adjustment is presented; constraint equations were carried out and calcu-lated by levenberg-marquardt algorithm.
4、Angle measurement function of system was validated. An optical scaning large-scale coordinate measuring system composed of two stations was used for measuring spatial position of aviatic jig platform. Leica laser tracker was also used to compare and verify the accuracy of scanning measurement system.
引文
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