Dynamic position and attitude synchronization measurement method fusing inertial measurement information

Abstract

The invention discloses a dynamic position and attitude synchronization measurement method fused with inertial measurement information, which comprises the following steps: rigidly connecting an IMU (Inertial Measurement Unit) with a pose measurement target formed by a wMPS photoelectric receiver, respectively measuring the spherical center coordinates of the photoelectric receiver by using a three-coordinate measuring machine, fitting the coordinate system of the IMU, and unifying the observation objects of the wMPS and the IMU; placing the rigidly connected pose measurement target on a measured target and moving along with the target, measuring the scanning angle of each receiver by using the laser emission station, and constructing a light plane geometric constraint relationship; the wMPS pose observation at the initial position is used as an IMU state updating initial value, and the IMU state is updated successively by using the angular velocity and the acceleration output by the IMU; and if a new wMPS measurement result exists in two adjacent IMU state updating processes, performing wMPS and IMU pose measurement data fusion to obtain a fused system state quantity, and outputting a final pose in combination with IMU self updating.

Description

technical field [0001] The invention relates to the field of large-space dynamic measurement, in particular to a measurement method for synchronous dynamic position and attitude fused with inertial measurement information. Background technique [0002] With the development of high-end equipment manufacturing technology in the aviation and aerospace fields represented by spacecraft and aircraft, intelligent manufacturing has become an important trend and research hotspot, and it is an important measure to promote equipment manufacturing to high-end and build a manufacturing power. As a key way to obtain geometric quantity information, measurement is gradually integrated into all aspects of equipment manufacturing, which is a necessary prerequisite for the realization of intelligent manufacturing. Traditional single-objective and static measurement modes are difficult to meet many requirements such as efficiency and real-time performance. It is urgent to study high-precision, ...

AI Technical Summary

Problems solved by technology

The inertial measurement system represented by gyroscopes and accelerometers can autonomously sense the angular velocity and acceleration of the target's movement around the clock. It has the characteristics of high measurement frequency and strong anti-interference ability. The drift error of independent measurement of position and orientation diverges rapidly with time. , cannot meet the accuracy requirement

Limited by the speed of the transmitting station, the measurement frequency of wMPS is low, but its single measurement errors are independent of each other and have long-term stability. An external auxiliary system is required to be sensitive to the motion information within the measurement interval to achieve error compensation.

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