陆野, 马国鹭, 曾国英, 肖兴维. 遮挡区域空间位姿的多传感组合测量方法研究[J]. 应用光学, 2020, 41(3): 565-570. DOI: 10.5768/JAO202041.0303004
引用本文: 陆野, 马国鹭, 曾国英, 肖兴维. 遮挡区域空间位姿的多传感组合测量方法研究[J]. 应用光学, 2020, 41(3): 565-570. DOI: 10.5768/JAO202041.0303004
LU Ye, MA Guolu, ZENG Guoying, XIAO Xingwei. Research on multi-sensor combination method for estimating relative pose[J]. Journal of Applied Optics, 2020, 41(3): 565-570. DOI: 10.5768/JAO202041.0303004
Citation: LU Ye, MA Guolu, ZENG Guoying, XIAO Xingwei. Research on multi-sensor combination method for estimating relative pose[J]. Journal of Applied Optics, 2020, 41(3): 565-570. DOI: 10.5768/JAO202041.0303004

遮挡区域空间位姿的多传感组合测量方法研究

Research on multi-sensor combination method for estimating relative pose

  • 摘要: 针对狭长区域模块间存在视野遮挡、对接区域尺寸微小等问题,提出了一种多传感器组合位姿测量方法。该方法采用了布置在模块前后的轮廓仪与激光位移传感器联合获取模块上特征平面点云数据,利用平面拟合与空间几何投影的方法解算出章动角的旋转与位置的平移偏差,结合固定在目标上倾角仪提供的水平角信息解算出进动角与自转角的旋转偏差,研制了自动对接平台样机,实现了对接区域相对位姿的间接测量。实验结果表明,系统的位置与姿态测量精度分别优于40 μm、0.02°,且测量稳定性与效益较人工测量有明显提高,证明了所提方法的有效性,满足对设备模块间的高精度位姿测量需求。

     

    Abstract: 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.

     

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