Research on multi-sensor combination method for estimating relative pose

Aiming at the problem of the view shielding and the small size of docking area, a multi-sensor combined pose measurement method was proposed. The profilometer and the laser displacement sensor arranged before and after the module were adapted to obtain the cloud data of the feature plane point on the module. In addition, the rotation of the nutation angle and the shifting deviation of the location were calculated by the plane fitting and the geometric space projection method, simultaneously combined with the horizontal angle information provided by inclinometer stick to the target to calculate the rotation deviation of the precession angle and the self-rotation angle. The automatic docking platform prototype was developed by this method, and the indirect measurement of the relative pose in docking area was realized. The experimental results show that the position and the pose measurement accuracy of the system is better than 40 μm and 0.02° respectively. And the measurement stability and the benefit are obviously improved compared with the manual measurement, which proves the effectiveness of the proposed method and meets the needs of high precision pose measurement between equipment modules.