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Method for measuring posture and height of dynamic platform

A technology of height measurement and dynamic platform, which is applied in the direction of measuring device, line-of-sight measurement, and distance measurement, etc. It can solve the problems of long preparation time, decreased measurement accuracy, limited attitude measurement accuracy, and receiver baseline length.

Active Publication Date: 2013-05-08
NAT UNIV OF DEFENSE TECH
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Problems solved by technology

[0002] At present, the high-precision real-time measurement of dynamic platform attitude mainly uses the inertial measurement system based on gyroscope and accelerometer, and is often combined with GPS (Global Position System, Global Positioning System) to ensure long-term measurement accuracy. The preparation time is long, the price is expensive, and it is not suitable for application in some real-time measurement systems
GPS-based attitude measurement technology is a hot research field at present, but satellite signals may not be received normally in some cases, and the attitude measurement accuracy is limited by the baseline length of the receiver
The inclination sensor calculates the attitude angle of the sensor relative to the horizontal plane by measuring the component of the acceleration of gravity on its sensitive axis. It is mainly used for the attitude measurement of the carrier under static conditions. The accuracy is higher only when the change speed of the attitude angle of the carrier is small. Rapid changes in the attitude angle of the download body platform will lead to a significant drop in measurement accuracy

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  • Method for measuring posture and height of dynamic platform
  • Method for measuring posture and height of dynamic platform

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Embodiment Construction

[0034] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0035] figure 1 It is a schematic diagram of the principle of the dynamic platform attitude and height measurement method, showing the definition of the scanner system coordinate system and the equipment installation method. The X-Y-Z coordinate system is the scanner system coordinate system X S-scaner , the origin is the intersection O of the scanning planes of the two scanners and the three planes where the platform is located, the X axis is parallel to the plane where the platform is located but perpendicular to the advancing direction of the platform, the Y axis is parallel to the plane where the platform is located and is opposite to the advancing direction of the platform, Z The axis is perpendicular to the plane where the platform is located and the upward direction is positive, and the X-axis, Y-axis and Z-axis form a right-handed coordinate system; t...

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Abstract

The invention provides a method for measuring posture and height of a dynamic platform. According to the technical scheme, the method comprises the following steps of: obtaining pavement scanning lines by utilizing two two-dimensional laser scanners which are orthogonally mounted and perform vertically downward scanning; estimating an expression equation of the scanning lines by using an RANSAC (random sample consensus algorithm), and obtaining a pavement plane equation by utilizing the expression equation of the two scanning lines; and solving the posture and height of the platform by taking the pavement plane equation as reference. The equipment is simple and is low in cost. The measurement result is not influenced by the acceleration of the motion platform, drift is avoided, and the measurement accuracy is high.

Description

technical field [0001] The invention belongs to the technical field of photoelectric measurement and control, and relates to a posture and height measurement method, in particular to a dynamic platform posture and height measurement method, and further relates to a dynamic platform posture and height measurement method on the road using the principle of orthogonal two-dimensional laser scanning. Method of height measurement. Background technique [0002] At present, the high-precision real-time measurement of dynamic platform attitude mainly uses the inertial measurement system based on gyroscope and accelerometer, and is often combined with GPS (Global Position System, Global Positioning System) to ensure long-term measurement accuracy. The preparation time is long, the price is expensive, and it is not suitable for application in some real-time measurement systems. Attitude measurement technology based on GPS is a hot research field at present, but satellite signals may n...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C21/10G01C3/00
Inventor 冯莹曹毓雷兵魏立安程金龙马相路赵立双
Owner NAT UNIV OF DEFENSE TECH
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