激光跟踪仪高精度坐标测量技术研究与实现

发布时间：2018-09-05 20:15

【摘要】：大尺寸空间坐标测量技术一直是精密工业与工程测量领域的一项重要研究内容,近年来随着激光干涉测距和激光跟踪仪技术的发展,空间坐标测量的精度得到了极大的提高,测量空间也越来越大,极大的促进了工业测量技术的发展,并且出现了多种工业测量技术联合测量的趋势,需要采用新的理论和方法进一步提高空间坐标测量的精度,建立更高精度的大尺寸空间坐标基准,对于提高工业测量的水平和应用范围具有重要意义。为此,国内外的研究机构都基于激光跟踪仪开展了深入持续的研究,提出了一些基于激光跟踪仪的空间坐标测量技术的新方法。本文在研究激光跟踪仪坐标测量特点的基础上,结合作者获批的国家自然科学基金项目“超高精度工业测量三维坐标基准建立的理论与方法研究”(批准号41101446)及航天器精密测量项目的需求,开展了基于激光跟踪仪的空间坐标精密测量技术研究。本文提出了基于激光跟踪仪精密距离观测值建立激光干涉测距三维网平差技术,以高精度测量空间坐标值。目前空间坐标测量技术从原理上主要分为角度交会、球坐标、空间支导线等三种,而激光跟踪仪的测角误差远大于测距误差,是影响点位测量精度的主要误差因素。在传统平面测边网平差模型的基础上,推导了基于激光干涉测距的空间三维加权秩亏自由网平差模型,引入附加约束矩阵,解决了无角度基准条件下的空间三维测距网平差基准问题,实现了多台跟踪仪仪器中心和定向点的空间定位解算。针对激光跟踪仪的精密干涉测距特点,采用拟稳平差、附有系统参数和附有约束条件的参数平差模型,进一步提高了多台跟踪仪中心和定向点的坐标测量与解算精度。建立了测站四自由度和测站六自由度的三维边角网平差模型,实现了多台激光跟踪仪在整平和不整平状态下的测站平移和旋转参数的求解。本文根据激光跟踪仪的角度和距离测量特点,采用合理的权阵模型,减弱角度对多台激光跟踪仪三维边角网的平差精度的影响,同时解算得到激光跟踪仪测站的位置和姿态参数。构建了广义USMN平差模型,克服了现有USMN平差模型的缺点,满足多种测量技术联合测量的特殊需求。将激光跟踪仪的高精度距离观测值作为经纬仪测量的长度基准,解决了经纬仪无互瞄测量和无基准尺测量条件下的系统定向解算,消除了长度基准不一致的问题,实现了激光跟踪仪和立方镜坐标系的转换。构建了激光干涉测距三维网和空间距离前方交会测量的三维位置几何精度衰减因子模型。在多台激光跟踪仪定位定向解算的基础上,本文研究了激光跟踪仪空间距离前方交会和激光干涉测距三维网的平差解算原理,构建了PDOP模型并仿真计算了PDOP值的空间分布等值线图,研究了PDOP值与图形体积的关系,并据此对激光干涉测距三维网的建立进行了优化。将激光干涉测距三维网得到的高精度坐标值作为参考基准,可以对激光跟踪仪球坐标测量系统进行坐标精度检定与误差补偿,无需引入外部参考基准,实现单台激光跟踪仪的自校准。
[Abstract]:Large-scale spatial coordinate measurement technology has always been an important research content in the field of precision industrial and engineering measurement. In recent years, with the development of laser interferometry and laser tracker technology, the precision of spatial coordinate measurement has been greatly improved, and the measuring space has become larger and larger, which greatly promotes the development of industrial measurement technology. It is necessary to adopt new theories and methods to further improve the accuracy of space coordinate measurement and establish a large-scale space coordinate datum with higher precision, which is of great significance to improve the level and application range of industrial measurement. Based on the study of the characteristics of the coordinate measurement of the laser tracker and the project of National Natural Science Foundation of China approved by the author, "the theory and method research on the establishment of three-dimensional coordinate datum for ultra-high precision industrial measurement" In order to meet the requirements of the project of precision measurement of spacecraft, the research of space coordinate precision measurement technology based on laser tracker is carried out. In this paper, a three-dimensional network adjustment technology of laser interferometry based on the precise distance observation of laser tracker is proposed to measure the space coordinate value with high precision. In principle, the technique can be divided into three types: angle intersection, spherical coordinate and space branch traverse. The angle error of laser tracker is far greater than the distance error, which is the main error factor affecting the accuracy of point position measurement. In the adjustment model, the additional constraint matrix is introduced to solve the adjustment datum problem of the three-dimensional space ranging network without angle datum, and the spatial positioning calculation of the center and orientation points of multiple tracking instruments is realized. The coordinate measuring and calculating accuracy of the center and orientation points of multiple laser trackers are further improved by using the numerical adjustment model. The adjustment models of three-dimensional corner net with four degrees of freedom and six degrees of freedom are established, and the translation and rotation parameters of multiple laser trackers in the state of leveling and irregularity are solved. Based on the characteristics of the angle and distance measurement of the laser tracker, a reasonable weight matrix model is adopted to reduce the influence of the angle on the adjustment accuracy of the three-dimensional corner net of the laser tracker, and the position and attitude parameters of the laser tracker are calculated. The generalized USMN adjustment model is constructed to overcome the shortcomings of the existing USMN adjustment model and meet the needs of various measurement techniques. The special requirement of combined measurement is that the high-precision distance observation of laser tracker is taken as the length datum of theodolite measurement, which solves the problem of systematic orientation calculation under the condition of no-mutual-aiming measurement and no-datum-scale measurement, eliminates the problem of inconsistency of length datum, and realizes the transformation of laser tracker and cubic mirror coordinate system. The attenuation factor model of 3-D position geometric accuracy for laser interferometric ranging 3-D network and space distance forward intersection measurement is presented. Based on the positioning and orientation calculation of several laser trackers, the adjustment principle of 3-D network for space distance forward intersection and laser interferometric ranging is studied in this paper. The PDOP model is constructed and simulated. The spatial distribution contour map of PDOP value is calculated, the relationship between PDOP value and figure volume is studied, and the establishment of three-dimensional network for laser interferometric ranging is optimized accordingly. The high-precision coordinate value obtained from the three-dimensional network for laser interferometric ranging is taken as the reference datum, and the coordinate accuracy of the spherical coordinate measuring system of laser tracker can be calibrated and verified. Error compensation does not require the introduction of an external reference standard to achieve self calibration of a single laser tracker.
【学位授予单位】：解放军信息工程大学
【学位级别】：博士
【学位授予年份】：2013
【分类号】：P225.2

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