基于无衍射光的隐藏点空间坐标测量方法研究

发布时间：2018-07-15 15:16

【摘要】：在大尺度空间坐标测量中,由于设备的测量空间大,现场环境复杂,常因空间阻隔、构件自遮挡或互遮挡以及凹陷等因素产生一些难以测量的关键必测隐藏点。针对通视阻断条件下的大型装备的隐藏点测量的问题,本文研究一种将空间姿态测量与激光测距相结合的组合测量新方法,借助全站仪等基础仪器,在不改变坐标基准的前提下,通过测量方向的转折,实现单坐标基准下的大尺寸非接触越障测量。主要研究内容和创新如下:1.分析无衍射光的基本特性,并基于无衍射光的测角理论,通过理论计算对满足无衍射光姿态角传感器的光学系统约束参数进行优化;建立空间姿态角测量的数学模型,构建了基于无衍射光的空间姿态角测量系统。2.提出一种将姿态角传感器和激光测距传感器结合的可重构式移动测头,其能与全站仪构成可重构式坐标测量系统。介绍了测量系统的结构组成、基本测量原理,并给出了其标定方法;建立测量系统的数学模型,设计标定靶球并对系统进行了标定。3.提出一种将姿态角传感器、角度编码器和激光测距传感器结合的可旋转式移动测头,并与全站仪构成大尺寸非接触坐标测量系统。由于实际测量中测量控制点分布不均匀的特点,提出一种根据控制点在空间的分布确定权值的加权最小二乘的标定方法;采用蒙特卡罗方法进行了仿真分析,仿真结果表明加权最小二乘算法总体上优于普通的最小二乘法,验证了标定算法的可行性。4.对可重构式坐标测量系统和可旋转式坐标测量系统的测量精度进行了实验验证及系统测量不确定度分析。编写了测量系统的软件平台;通过分析测量过程中全站仪、姿态角传感器、角度编码器以及激光测距仪等部件的误差,对测量系统进行不确定度分析。
[Abstract]:In large scale space coordinate measurement, because of the large measuring space of the equipment and the complex field environment, it is often due to the spatial barrier, the self-occlusion or mutual occlusion of the components and the depression and so on, which produce some key points which are difficult to measure and hide. Aiming at the problem of hidden point measurement of large equipment under the condition of common sight blocking, this paper studies a new combined measurement method which combines space attitude measurement with laser ranging, with the aid of basic instruments such as total station, etc. On the premise of not changing the coordinate datum, the large-size non-contact obstacle measurement under the single coordinate datum is realized by the turning of the measuring direction. The main research contents and innovations are as follows: 1. The basic characteristics of non-diffractive light are analyzed, and based on the angle measurement theory of non-diffractive light, the constraint parameters of optical system satisfying the non-diffractive attitude angle sensor are optimized by theoretical calculation, and the mathematical model of spatial attitude angle measurement is established. The space attitude angle measurement system. 2. 2 based on non-diffractive light. A reconfigurable mobile probe which combines attitude angle sensor and laser ranging sensor is proposed. It can be combined with a total station to form a reconfigurable coordinate measurement system. This paper introduces the structure, basic measuring principle and calibration method of the measurement system, establishes the mathematical model of the measurement system, designs and calibrates the target sphere and calibrates the system. This paper presents a kind of rotary mobile probe which combines attitude angle sensor, angle encoder and laser ranging sensor, and constitutes a large scale non-contact coordinate measuring system with total station. Due to the uneven distribution of control points in actual measurement, a weighted least square calibration method based on the distribution of control points in space is proposed, and the Monte Carlo method is used to carry out the simulation analysis. The simulation results show that the weighted least squares algorithm is superior to the ordinary least squares algorithm in general, and the feasibility of the calibration algorithm is verified. The measurement accuracy of the reconfigurable coordinate measurement system and the rotary coordinate measuring system is verified experimentally and the uncertainty of the system measurement is analyzed. The software platform of the measurement system is written, and the uncertainty of the measurement system is analyzed by analyzing the errors of the total station, attitude angle sensor, angle encoder and laser rangefinder.
【学位授予单位】：华中科技大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TP212.9;TN249

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