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Method for calibrating external parameters of distributed large-size space location system

A technology of spatial positioning and calibration method, applied in the field of external parameter calibration, which can solve the problems of unfavorable field application, high cost, easy to add additional error sources, etc.

Active Publication Date: 2018-03-20
西安航通测控技术有限责任公司
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Problems solved by technology

Before the measurement, it is necessary to establish the positional relationship between the system world coordinate system and each measurement base station, that is, to calibrate the external parameters of the system. However, the existing external calibration methods usually use other auxiliary measurement equipment, or need to add additional constraints, which is easy Additional error sources are added, and the operation process is cumbersome and costly, which is not conducive to field application

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  • Method for calibrating external parameters of distributed large-size space location system
  • Method for calibrating external parameters of distributed large-size space location system
  • Method for calibrating external parameters of distributed large-size space location system

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Embodiment Construction

[0067] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0068] A method for calibrating external parameters of a distributed large-scale spatial positioning system, comprising the following steps:

[0069] 1) if figure 2 As shown, two near-infrared lasers are installed inside the rotating platform of the transmitter, and they rotate counterclockwise at a constant speed around the rotation axis under the drive of the servo motor, and emit two fan-shaped laser planes and LEDs with a fixed inclination angle to the measurement space in real time. Synchronous optical signal, LED synchronous optical signal as the zero signal of the laser plane rotation period;

[0070] 2) if Figure 4 As shown, taking four transmitters as an example, the transmitter network is reasonably arranged according to the measurement space, and each transmitter is set to a fixed speed, which is 2500r / min, 2600r / min, 2700r / min, 2800r / min, and inverse ...

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Abstract

The invention relates to a method for calibrating external parameters of a distributed large-size space location system. According to the method, the difficult problems that the calibration process ofa large-size space location system is tedious, the overall optimization of the system is sensitive to primary external parameter values, the cost is high, and the like are solved. The method comprises the steps of carrying out primary calibration on the system by virtue of a two-dimensional calibration rod through supposing that a visual projection plane exists in front of an emitter, and carrying out overall calibration on the system by minimizing objective functions through Levenberg-Marquardt iterative optimization. The method has the beneficial effects that the operation process is simple, the calibration speed is high, the measurement accuracy and the working efficiency of the system are improved, and meanwhile, the system cost can be effectively lowered.

Description

technical field [0001] The invention relates to an external parameter calibration method for a distributed large-scale space positioning system. The principle is: first, assuming that there is a virtual projection plane in front of the transmitter, a virtual transmitter perspective projection model is established to realize the initial calibration of each calibration unit, and then iterative optimization by Levenberg-Marquardt to minimize the objective function. System global calibration. Background technique [0002] With the assembly of large-scale product components such as aviation, aerospace, ships, and automobiles, and the docking assembly of large components, the requirements for precision positioning and real-time measurement and control of poses are increasing. Large-scale space digital measurement systems and their application technologies are widely accepted by industry and academia. focus on. At present, the relatively mature large-scale measurement technologie...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 钟征宇刘青贾昆
Owner 西安航通测控技术有限责任公司
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