CN109540058A - A kind of rigid body position and attitude measurement uncertainty evaluation method based on point set measurement - Google Patents
A kind of rigid body position and attitude measurement uncertainty evaluation method based on point set measurement Download PDFInfo
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- CN109540058A CN109540058A CN201811389601.0A CN201811389601A CN109540058A CN 109540058 A CN109540058 A CN 109540058A CN 201811389601 A CN201811389601 A CN 201811389601A CN 109540058 A CN109540058 A CN 109540058A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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Abstract
The present invention relates to a kind of rigid body position based on point set measurement and attitude measurement uncertainty evaluation methods.This method compares with threedimensional model Point Set gross data using digitized measurements systematic survey rigid body surface key point sets such as laser trackers, can resolve rigid body position and posture.Uncertainty of measurement source is analyzed, using Principal Component Analysis in point set measurement data positioning uncertainty and uncertainty of measurement separate, and then provide the Evaluation of Uncertainty of digitized measurement system.The method that design calculates rigid body position and posture uncertainty, and show as having the entity geometrical characteristic of geometrical boundary to exist at random within the scope of some in three dimensions, there are a maximum boundaries and minimum boundary for the range, the minimum envelop range of the geometrical characteristic of rigid body described in position and posture is constituted, the adjustment for rigid body assembling scheme provides decision-making foundation.
Description
Technical field
The present invention measures rigid body surface key point set using laser tracker, resolves rigid body position and posture.Not to measurement
Degree of certainty source is analyzed, using Principal Component Analysis to the positioning uncertainty and uncertainty of measurement in point set measurement data
It is separated.Rigid body position and attitude measurement uncertainty calculation method are designed, the adjustment for rigid body assembling scheme provides decision
Foundation.Belong to the measurement auxiliary assembly field for large-size components.
Background technique
In Aeronautics and Astronautics, ship domain, product general size is big, and required precision is high, complex process.Big component assembling
As the committed step in production process, top priority is to determine relative position and the posture being assembled between component, is needed
The support of large-scale dimension measuring technique.Currently used measuring instrument has laser tracker, iGPS, vision measurement, three coordinates
Measuring machine, laser radar etc., measurement essence are the three-dimensional coordinates for obtaining target point under reference frame, are closed further according to corresponding
System carries out position and posture is fitted.
Uncertainty is the ginseng of the degree of scatter of a reasonable assignment associated with measurement result, characterization is measured
Amount.There is certain uncertainty in any measurement result, show as the measurement for carrying out being repeated several times measurement using same approach
As a result different, measurement result only when occurring simultaneously with corresponding uncertainty of measurement, just has credible and complete
Property.Due to the presence of uncertainty of measurement, so that single measurement result can not reflect to entirely accurate the reality of measured object
That is, there is measurement error in state；As the foozle of part, the rigging error of component, measurement error equally assists assembly
Tonality has an impact.Therefore, it is necessary to study uncertainty of measurement, support is provided for alignment measurement precision analysis.
Summary of the invention
The present invention is the uncertainty of measurement evaluation problem for solving rigid body position and posture, first to uncertainty of measurement source
Analyzed, using Principal Component Analysis in point set measurement data positioning uncertainty and uncertainty of measurement divide
From, and then provide the Evaluation of Uncertainty of digitized measurement system.The method that design calculates rigid body position and posture uncertainty,
Adjustment for rigid body alignment measurement scheme provides decision-making foundation.
In order to ensure the validity of position and posture fitting result, position and posture uncertainty are proposed according to international standard
Concept, and to out position and posture uncertainty evaluation algorithm.According to " measuring uncertain for the publications such as International Organization for standardization
Degree indicates guide " (GUM) middle method stated, rigid body position and posture are a six-vectors, and uncertainty evaluation is based on
Multi-Dimensional parameters uncertainty calculation method provides.The uncertainty of multidimensional measure result is a covariance matrix, pair of matrix
Element on linea angulata is the uncertainty of each measurement component itself, and off-diagonal element is the mutual uncertainty of each component；
Common matrix size comparative approach, including determinant of a matrix can be used in comparison for multidimensional measure result uncertainty
Comparison, the maximum of matrix absolute value or smallest real eigenvalue compare, the mark of matrix relatively etc..
In numeric terminal environment, many factors and process error will cause rigid body key measurement characteristic location and appearance
The measurement error of state, for measurement is repeated several times, the position of key measurement characteristic and attitude measurement result are with its theoretical value
Centered on, it fluctuates in a certain range.
In order to realize the measurement and analysis of position Yu posture uncertainty, respectively from rigid body position and posture uncertainty
Geometry meaning and mathematical sense are illustrated.
On geometric format, position and posture reflect reference for assembling local coordinate system origin in the global coordinate system of space
Rotation angle around each axis of global coordinate system of position and each axis of local coordinate system, the uncertain then table of position and posture
Now for local coordinate system origin, the uncertainty of position and each axis of local coordinate system are directed toward not in the global coordinate system of space
Certainty, and be not completely independent between both.Study position and when posture uncertainty, cast aside position with
Object that posture is depended on and only consider that the characteristic of local coordinate system is nonsensical；Position is with object described in posture
Entity with geometrical boundary, in three dimensions, position and the geometry that posture uncertainty is eventually exhibited as the entity are special
Sign exists at random within the scope of some, and as shown in figure 1 shown in cuboid frame, there are a maximum boundary and minimum edges for the range
Boundary constitutes the minimum envelop range of the geometrical characteristic of entity described in position and posture.
In quantic, position and posture be by local coordinate system around each reference axis of global coordinate system rotation angle with
And local coordinate system origin is with respect to the six-vector that the translational movement of global coordinate system origin is constituted.By rigid body assembling process position
Evaluation with attitude measurement result uncertainty is divided into four steps, as shown in Figure 2.
The mathematical form of position and posture uncertainty is indicated using the covariance matrix of six dimension variables are as follows:
Above formula reflects the correlation of rigid body position and posture between the unstability and each dimension in each dimension
Property.
Position and posture uncertainty reflect the possible mobility scale of geometrical characteristic of its described rigid body, not only make
Position and attitude measurement result are obtained more completely and with credibility, while being also based on measurement data foundation fitted position tolerance
It is required that the premise of evaluation consistency and assembling quality.
The present invention has the following advantages and beneficial effects:
1. providing the appraisal procedure of uncertainty of measurement using rigid body position and posture as object, having measurement result
Credible and integrality；
2. being suitable for rigid body assembles scene, pass through critical-path analysis digitized measurement systematic survey uncertainty, rigid body position
With attitude measurement uncertainty and fitted position tolerance, be conducive to improve assembling quality.
Detailed description of the invention
The geometric representation of the position Fig. 1 and posture uncertainty；
The position Fig. 2 and attitude measurement result uncertainty evaluation step.
Specific embodiment
With reference to the accompanying drawing and specific embodiment does further detailed description to the present invention.The present invention is directed to rigid body
Position and attitude measurement uncertainty, provide position and posture method for solving, and step according to Fig.2, in assembling process
It is evaluated.
The evaluation of key point uncertainty of measurement is carried out first:
M measurement is carried out for each key point, recording its coordinate in global coordinate system is (xij,yij,zij), under
Mark indicates the jth time measured value of ith measurement point.If each point coordinate valueAre as follows:
If each point coordinate value standard deviation is (σxi,σyi,σzi), and
In view of when environmental factor causes part measurement point uncertainty of measurement bigger than normal, using Rodrigo's least square
Method can make position larger with attitude misalignment, therefore propose variable weight position and posture fitting algorithm based on uncertainty of measurement:
Before carrying out pose fitting, overproof point is carried out first and is rejected.In view of which kind of posture be currently at regardless of rigid body,
The relative positional relationship of key point should be fixed.It should at a distance from n-1 key point of n key point and other on rigid body
It is consistent with the theoretical distance of calibration, choose apart from overproof accumulative most as overproof point.For overproof point, analysis generates former
Cause, and decide whether that additional survey need to be carried out.
After rejecting overproof point, constructs objective function as follows and solves rigid body position and posture:
Wherein:
Pi'=(xi'yi'zi'1)T
μiRepresent the weight factor of uncertainty of measurement introducing, value are as follows:
It is when position is fitted with posture that the actual measurement of each key point in scene is not true by the weighing computation method of above formula
Fixed degree accounts for, and measures stable measurement point with higher weight, is conducive to improve section position and posture fitting precision.
Key point uncertainty of measurement covariance matrix are as follows:
Then pose measurement uncertainty covariance matrix are as follows:
Wherein J is the Jacobian matrix that position and posture solve function, and n represents key point number.
Claims (6)
1. a kind of rigid body position and attitude measurement uncertainty evaluation method based on point set measurement, which is characterized in that utilize and swash
The digitized measurements systematic survey rigid body key point coordinate such as optical tracker system, resolves according to key point coordinate theoretical value in threedimensional model
Rigid body position and posture, analysis of key point uncertainty of measurement, and rigid body position and posture uncertainty are calculated, above method base
It is realized in special-purpose software, the adjustment for rigid body assembling scheme provides decision-making foundation.
2. rigid body position and attitude measurement uncertainty evaluation method as described in claim 1 based on point set measurement, special
Sign is, the key point analysis of uncertainty in measurement method are as follows: each key point is continuously measured by digitized measurement system,
Uncertain separate to the positioning uncertainty in point set measurement data and is measured using Principal Component Analysis.
3. rigid body position and attitude measurement uncertainty evaluation method as described in claim 1 based on point set measurement, special
Sign is, the rigid body position and posture uncertainty specific features are as follows: rigid body position and posture are a six-vectors, no
Degree of certainty is a covariance matrix, and the element on the diagonal line of matrix is the uncertainty of each measurement component itself, diagonally
Element outside line is the mutual uncertainty of each component.If rigid body position and posture are (x, y, z, α, beta, gamma), wherein x, y, z are represented
Along each axis translational movement, α, beta, gamma is represented along each axis rotation amount, position and posture uncertainty mathematical form are as follows:
4. rigid body position and attitude measurement uncertainty evaluation method as described in claim 1 based on point set measurement, special
Sign is, the rigid body position and posture uncertainty calculation method are as follows: be weighted position according to key point uncertainty of measurement
It sets and is fitted with posture, after evaluating each key point uncertainty of measurement, rigid body position and posture uncertainty can be solved, and then really
Positioning is set and each component uncertainty of posture.
5. rigid body position and attitude measurement uncertainty evaluation method as described in claim 1 based on point set measurement, special
Sign is, the special-purpose software feature are as follows: can connect laser tracker and carries out digitized measurement and data management；Offer task
Management function supports the multiplicating to same rigid body, same key point to measure；Spot measurement uncertainty can be calculated, and is tied
Threedimensional model design data is closed, rigid body weighting position is carried out and posture is fitted；Rigid body position and posture uncertainty can be calculated, and
It is shown in a manner of three-dimensional visualization.
6. rigid body position and attitude measurement uncertainty evaluation method as described in claim 1 based on point set measurement, special
Sign is that the rigid body is bay section base part.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113028990A (en) * | 2021-03-08 | 2021-06-25 | 湖北工业大学 | Laser tracking attitude measurement system and method based on weighted least square |
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| US20080192242A1 (en) * | 2004-12-11 | 2008-08-14 | Trimble Navigation Ltd | Method of mobile radio positioning aided by single fan self-surveying laser transmitter |
| CN102305608A (en) * | 2011-05-13 | 2012-01-04 | 哈尔滨工业大学 | Error measurement and compensation method for multi-target two-dimensional cross motion simulation system |
| CN102997875A (en) * | 2012-09-20 | 2013-03-27 | 湖南科技大学 | Method for analyzing uncertainty in high-precision measurement of complex spiral curved surfaces |
| CN106897473A (en) * | 2015-12-21 | 2017-06-27 | 北京航空航天大学 | A kind of pose uncertainty evaluation method |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080192242A1 (en) * | 2004-12-11 | 2008-08-14 | Trimble Navigation Ltd | Method of mobile radio positioning aided by single fan self-surveying laser transmitter |
| CN102305608A (en) * | 2011-05-13 | 2012-01-04 | 哈尔滨工业大学 | Error measurement and compensation method for multi-target two-dimensional cross motion simulation system |
| CN102997875A (en) * | 2012-09-20 | 2013-03-27 | 湖南科技大学 | Method for analyzing uncertainty in high-precision measurement of complex spiral curved surfaces |
| CN106897473A (en) * | 2015-12-21 | 2017-06-27 | 北京航空航天大学 | A kind of pose uncertainty evaluation method |
Cited By (2)
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| CN113028990A (en) * | 2021-03-08 | 2021-06-25 | 湖北工业大学 | Laser tracking attitude measurement system and method based on weighted least square |
| CN113028990B (en) * | 2021-03-08 | 2022-11-18 | 湖北工业大学 | Laser tracking attitude measurement system and method based on weighted least square |
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