CN113063354A - Cooperative target orientation device for spatial measurement positioning and orientation method thereof - Google Patents
Cooperative target orientation device for spatial measurement positioning and orientation method thereof Download PDFInfo
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Abstract
The invention discloses a cooperative target orienting device for space measurement positioning, which comprises a cubic cooperative target, a receiving unit and a signal processing unit, wherein the cube cooperative target is positioned in a space; the outer surface of the target is fixedly provided with a plurality of receiving units which are used for receiving the light plane signals of the transmitting station and are binarized into logic pulses; the receiving units are arranged oppositely in pairs, and each two receiving units arranged oppositely are respectively positioned on opposite planes; the receiving unit is a circular target, and the circle center position of the circular target is used as a target point; the signal processing unit is positioned in the cooperative target and used for converting the signal received and converted by the receiving unit into a scanning angle and sending data to a resolving computer through a wired network or a wireless network. The invention also discloses an orientation method for the space measurement positioning.
Description
Technical Field
The invention belongs to the technical field of space three-dimensional coordinate precision measurement, and particularly relates to a cooperative target orientation device for space measurement positioning and an orientation method thereof.
Background
The spatial measurement positioning system is a distributed measurement system, a laser measurement field covering the whole circumferential direction is constructed by combining precise rotation with multi-path laser scanning, and a three-dimensional coordinate at a receiving node is acquired by intersecting multi-angle observed quantities formed by measuring nodes, wherein the rotary laser scanning distributed measurement system is represented by iGPS of Nikon corporation and wMPS of Tianjin university. The accurate determination of the pose relationship between each base station of the system (also called system orientation process) is the key to realize the high-precision measurement of the system. In the traditional orientation method of the space measurement positioning system, a patent (application number: CN201110234777.0) discloses a quick orientation method of a working space measurement positioning system adopting a standard rod, which utilizes the characteristic that a launching station is horizontally arranged when working, and optimizes and solves the orientation parameters of the launching station by introducing reference length constraint and combining a space angle intersection measurement model, but the method only utilizes one-dimensional length constraint, the reference length needs to be calibrated in advance, a reference ruler is required to move a plurality of positions, and the required movement space is larger. The patent (application number: cn201510689702.x) discloses a mobile transmitting station fast orientation method based on a wMPS system, which combines a reference length constraint and a fixed point location constraint to quickly orient a mobile station coordinate system to a global coordinate system, but the method relies on a fixed three-dimensional feature point prearranged in an external space, and the field configuration flexibility is poor. In addition, the reference length constraint and the fixed point position constraint used by the two methods are acquired by depending on higher-precision auxiliary measurement equipment, and at the moment, the orientation precision of the system is greatly influenced by the interchange precision of receiving node tools in the same size, for example, a centering error between a spherical receiver of the system and a reflecting target ball of a laser tracker is introduced into orientation parameters.
In summary, the existing orientation method of the spatial measurement positioning system relies on higher-precision auxiliary measurement equipment to obtain constraint field reference scale length information or fixed point location information, and the orientation precision of the system is greatly influenced by the exchange precision of receiving node tools.
Disclosure of Invention
The invention aims to solve the problems that the prior orientation method of a space measurement positioning system depends on auxiliary measurement equipment with higher precision, and the orientation precision of the system is greatly influenced by the exchange precision of a receiving node tool, and provides a cooperative target orientation device for space measurement positioning and an orientation method thereof; secondly, the relative spatial distance of the central position of each receiving unit on the target is not changed into a rigid constraint condition by the orientation method, the position relation of the control point of the target does not need to be calibrated in advance, the introduction of the exchange centering error of the spherical tool of the receiving node is avoided, the flexibility of the orientation method is good, and meanwhile, higher orientation precision is guaranteed.
In order to solve the technical problems, the invention is realized by the following technical scheme:
a cooperative target orientation device for spatial measurement positioning comprises a cubic cooperative target, a receiving unit and a signal processing unit;
the outer surface of the target is fixedly provided with a plurality of receiving units which are used for receiving the light plane signals of the transmitting station and are binarized into logic pulses; the receiving units are arranged oppositely in pairs, and each two receiving units arranged oppositely are respectively positioned on opposite planes; the receiving unit is a circular target, and the circle center position of the circular target is used as a target point;
the signal processing unit is positioned in the cooperative target and used for converting the signal received and converted by the receiving unit into a scanning angle and sending data to a resolving computer through a wired network or a wireless network.
Further, the target is fixedly provided with 6 receiving units, wherein 3 receiving units are positioned at the top of the target, and the other 3 receiving units are positioned at the bottom of the target.
An orientation method using spatially measured positioning of the cooperative target orientation device, comprising the steps of:
step 1: fixing a plurality of transmitting stations to be oriented in a region to be measured, wherein the transmitting stations are separated by a certain distance; combining the measuring range of the launching station, arranging a cooperative target orientation device near the public area to be measured, wherein all receiving units on the cooperative target orientation device are not blocked between the launching stations; randomly selecting one transmitting station as a master station, and taking a master station coordinate system as a global coordinate system O-XYZ;
step 2: moving the cooperative target orientation device back and forth at a plurality of positions in a common area measured by each transmitting station, wherein two optical plane signals of each transmitting station are collected by a receiving unit at each position, and the optical plane signals are converted into scanning angles by a signal processing unit and sent to a resolving computer;
and step 3: obtaining rotation angles of the two optical planes when the two optical planes rotate from the initial moment to reach a receiving unit according to the scanning angle obtained in the step 2, and then, multiplying the optical plane normal vector of the initial position of the transmitting station by the rotation matrix to obtain a rotated optical plane normal vector;
and 4, step 4: and (3) establishing a single-station angle measurement model according to the scanning angle obtained in the step (2) and the light plane normal vector obtained in the step (3), optimizing and solving the initial value of the orientation parameter, and optimizing and solving the accurate value of the orientation parameter again after obtaining the initial value of the orientation parameter.
Further, the step 4 specifically includes:
step 401: estimating initial coordinate values of the receiving unit under a cooperative target coordinate system, then establishing a single-station angle measurement model, and solving initial directional parameter values from the global coordinate system to other transmitting station coordinate systems by using a rear intersection principle in the single-station angle measurement model;
step 402: and establishing an optimization equation for the orientation parameters from the coordinate systems of the transmitting stations to the global coordinate system to perform optimization solution by using the obtained initial values of the orientation parameters as iteration starting points of the orientation algorithm and using the unchanged relative space distance of the central positions of the receiving units on the cooperative targets as rigid constraint conditions, wherein after the iteration algorithm is globally converged, the obtained calculation result is the accurate value of the orientation parameters.
Wherein the orientation parameters in step 401 include a rotation matrix and a translation matrix.
Compared with the prior art, the invention has the beneficial effects and remarkable progresses that:
the space measurement positioning system orientation method using the cooperative target orientation device of the invention takes the relative distance of the central position space of each receiving unit on the cooperative target as a rigid constraint condition, does not need to accurately determine the relative position relation among the receiving units on the cooperative target in advance, eliminates the influence of the receiving node spherical tool interchange precision on the orientation parameter precision, ensures the sufficient constraint condition by the design of a plurality of receiving units on the cooperative target, and improves the calibration precision by redundant space graphic constraint information;
the orientation method is simple and effective and comprises two steps of optimization, wherein the first step is that the initial value of the orientation parameter between the cooperative target coordinate system and the T1 coordinate system is optimized and solved at each target position by utilizing the rear intersection principle in the single-station angle measurement model; and the second step is to optimize and solve the accurate values of the orientation parameters from the coordinate systems of all the transmitting stations to the global coordinate system again by using the initial values obtained in the first step.
Drawings
FIG. 1 is a schematic diagram of the construction of a cooperative target orientation apparatus according to the present invention;
fig. 2 is a schematic diagram of the orientation method according to the present invention.
In the figure:
1: a cooperative target; 2: a receiving unit; 3: a signal processing unit.
Detailed Description
In order to make the objects, technical solutions, advantages and significant progress of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings provided in the embodiments of the present invention, and it is obvious that all of the described embodiments are only some embodiments of the present invention, but not all embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, a cooperative target orientation device for spatial measurement positioning includes a rectangular parallelepiped cooperative target 1, a receiving unit 2 and a signal processing unit 3;
a plurality of receiving units 2 are fixedly arranged on the outer surface of the target 1, and the receiving units are fixedly connected with the outer surface of the target through connecting rods; the receiving units 2 are arranged oppositely in pairs, and each two oppositely arranged receiving units are respectively positioned on opposite planes; the target is fixedly provided with 6 receiving units, wherein 3 receiving units are positioned at the top of the target, the other 3 receiving units are positioned at the bottom of the target, and two planes provided with the receiving units are spaced at a certain distance.
The signal processing unit is located inside the cooperative target, and is used for calculating the time difference between the synchronous optical plane signal and the scanning optical plane signal and the time difference between the two scanning optical plane signals according to the signals received and converted by the receiving unit, converting the time difference into a scanning angle, and transmitting the scanning angle to the resolving computer through a wireless network or wired network transmission unit inside the target.
Fig. 2 illustrates an orientation method using spatially measured positioning of the cooperative target orientation device, the orientation method comprising:
fixing a plurality of launching stations T1 to be oriented, wherein T2 … Tp is in a test environment, each launching station is 5m away, and a plurality of positions P1, P2 and P3 … Pm of an orientation device of a cooperative target are arranged in the measurement environment, so that no shielding exists between each receiving unit on the cooperative target and each launching station; setting the coordinate system of the transmitting station T1 as a global coordinate system, wherein the orientation process is to solve orientation parameters from the coordinate system Tp of each transmitting station to the global coordinate system T1, and the orientation parameters are a rotation matrix and a translation matrix;
step two, acquiring the scanning angle theta of the light plane of the transmitting station by the cooperative target1、θ2。
And moving the cooperative target back and forth m positions in a common area measured by each transmitting station, and ensuring that m is more than or equal to 2. Taking one of the positions as an example, the P1 position is obtained by the receiving unit on the cooperative target to collect the light plane signal of the transmitting station and to be binary-converted into logic pulse, and the signal processing unit inside the target calculates the time difference between the synchronous light plane signal and the scanning light plane signal and the time difference between the two scanning light plane signals and converts them into the scanning angle θ1、θ2By absence within the targetAnd the wire network transmission unit is sent to the resolving computer. The obtaining of the scanning angles of the rest positions is the same as the method, and is not described in detail herein. A schematic diagram of cooperative target data acquisition is shown in fig. 1;
step three, obtaining the scanning angle theta according to the step 21、θ2And obtaining rotation angles of the two optical planes when the two optical planes rotate from the initial moment to reach a receiving unit, and then, multiplying the optical plane normal vector of the initial position of the transmitting station by the rotation matrix to obtain the rotated optical plane normal vector. Each transmitting station is internally provided with a fixed zero position of a coded disc, and the transmitting station can send out a synchronous optical signal as an initial position for measuring a scanning angle when a rotor of the transmitting station rotates to reach the zero position.
Knowing the normal vector n of the light plane 1 at the initial position10Is (a)10,b10,c10) Normal vector n of the light plane 220Is (a)20,b20,c20). As the rotor rotates counterclockwise about the Z-axis, the two light planes rotate from the initial moment to the rotation angle θ at which they reach the receiving unit1、θ2From step two, the rotated light plane normal vectors n1, n2 can be obtained by left-multiplying the initial light plane normal vector by the rotation matrix:
step four, the scanning angle theta obtained in the step two and the step three1、θ2And light plane normal vectors n1, n2 to globally orient the transmitting station. Comprises the following steps in sequence:
(1) estimating initial coordinate values of the receiving unit under a cooperative target coordinate system, then establishing a single-station angle measurement model, selecting one transmitting station and a global coordinate system for orientation each time, and then calculating initial orientation parameter values between the cooperative target coordinate system at m positions and a T1 coordinate system by utilizing a back intersection principle in the single-station angle measurement model.
(2) From the scanning angle theta1、θ2Sum light plane normal vector n1、n2Establishing an objective function:
for the convenience of analysis, n receiving units are arranged on the target, the target moves m target positions in space in the orientation process, and the number of the transmitting stations to be oriented is p. In the orientation process of p transmitting stations, the transmitting station 1 is taken as a master station, and the master station coordinate system is a global coordinate system.
The rotation matrix from the target coordinate system of the m target positions to the master station coordinate system is RBiThe translation matrix is TBi(i is 1 to m); and the rotation matrix from the main station coordinate system to the transmitting station p coordinate system is R, the translation matrix is T, and R and T are the orientation parameters to be solved. Setting the coordinates of the center positions of the n receiving units in a target coordinate system (target internal reference P)b) Is (x)Bj,yBj,zBj) (j is 1 to n), and the coordinates of the center positions of the n receiving units at the m target positions under the coordinate system of the master station are (x)1ij,y1ij,z1ij) The coordinates in the p coordinate system of the transmitting station are (x)pij,ypij,zpij). Then there are:
from the known initial light plane parameters [ a ] of each transmitting stationk,bk,ck,dk]T(k is 1,2) and scan angle θijkObtaining the light plane normal vectors corresponding to the n receiving units at the m target positions:
nijkand a normal vector (i is 1 to m; j is 1 to n; k is 1,2) representing the kth light plane of each transmitting station acquired by the jth receiving unit under the ith target position.
Optical plane constraint equations for transmitting station 1 and transmitting station p:
solving the objective function of the orientation parameters R and T can be expressed as:
decision variable R, R of FBiThe rotation matrix orthogonality constraint must also be satisfied:
finally, establishing rigid constraint conditions by using the characteristic that the relative distance of the central position space of each receiving unit on the target is unchanged, wherein the central position distance r of the receiving unitsijCan represent that:
rij＝||(x1ij,y1ij,z1ij)T-(x1i(j+1),y1i(j+1),z1i(j+1))T|| (7)
the rigid constraint may then represent:
gij＝rij-r(i+1)j＝0 (8)
the method adopts an external penalty function method to convert the constrained problem into an unconstrained problem for iterative solution.
The nonlinear unconstrained objective function constructed from the above analysis is:
wherein p is1、p2Is a penalty function factor. When equation (10) is satisfied, as is clear from the condition that the number of equations is greater than the number of unknowns:
5nm-6m-4n≥6 (10)
the optimization problem minM has an optimal solution.
(3) And (3) taking each initial parameter value obtained in the step (1) as an iteration starting point of an optimization equation, carrying out optimization solution on the orientation parameters R and T by using an optimization method, and obtaining a calculation result which is the accurate value of the orientation parameters after the iteration algorithm is globally converged.
Although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made on the technical solutions described in the foregoing embodiments, or some or all of the technical features of the embodiments can be replaced with equivalents, without departing from the scope of the embodiments of the present invention, and the technical solutions can not be modified or replaced by the modifications, the modifications and the substitutions in the non-essential scope of the present invention.
Claims (4)
1. A cooperative target orientation device for spatial measurement positioning is characterized by comprising a cubic cooperative target (1), a receiving unit (2) and a signal processing unit (3);
a plurality of receiving units (2) are fixedly arranged on the outer surface of the target and are used for receiving the light plane signal of the transmitting station and binarizing the light plane signal into logic pulses; the receiving units (2) are arranged in pairs in an opposite way, and each two receiving units arranged in an opposite way are respectively positioned on opposite planes; the receiving unit is a circular target, and the circle center position of the circular target is used as a target point;
the signal processing unit (3) is positioned in the cooperative target and used for converting the signals received and converted by the receiving unit into scanning angles and sending data to a resolving computer through a wired network or a wireless network.
2. The cooperative target orienting device of claim 1 wherein 6 receiving units are fixedly disposed on the target, wherein 3 receiving units are disposed on the top of the target and the other 3 receiving units are disposed on the bottom of the target.
3. An orientation method using spatially measured positioning of a cooperative target orientation device as defined in claim 1, comprising the steps of:
step 1: fixing a plurality of transmitting stations to be oriented in a region to be measured, wherein the transmitting stations are separated by a certain distance; combining the measuring range of the launching station, arranging a cooperative target orientation device near the public area to be measured, wherein all receiving units on the cooperative target orientation device are not blocked between the launching stations; randomly selecting one transmitting station as a master station, and taking a master station coordinate system as a global coordinate system O-XYZ;
step 2: moving the cooperative target orientation device back and forth at a plurality of positions in a common area measured by each transmitting station, wherein two optical plane signals of each transmitting station are collected by a receiving unit at each position, and the optical plane signals are converted into scanning angles by a signal processing unit and sent to a resolving computer;
and step 3: obtaining rotation angles of the two optical planes when the two optical planes rotate from the initial moment to reach a receiving unit according to the scanning angle obtained in the step 2, and then, multiplying the optical plane normal vector of the initial position of the transmitting station by the rotation matrix to obtain a rotated optical plane normal vector;
and 4, step 4: and (3) establishing a single-station angle measurement model according to the scanning angle obtained in the step (2) and the light plane normal vector obtained in the step (3), optimizing and solving the initial value of the orientation parameter, and optimizing and solving the accurate value of the orientation parameter again after obtaining the initial value of the orientation parameter.
4. The orientation method according to claim 3, wherein the step 4 comprises in particular:
step 401: estimating initial coordinate values of the receiving unit under a cooperative target coordinate system, then establishing a single-station angle measurement model, and solving initial directional parameter values from the global coordinate system to other transmitting station coordinate systems by using a rear intersection principle in the single-station angle measurement model;
step 402: and establishing an optimization equation for the orientation parameters from the coordinate systems of the transmitting stations to the global coordinate system to perform optimization solution by using the obtained initial values of the orientation parameters as iteration starting points of the orientation algorithm and using the unchanged relative space distance of the central positions of the receiving units on the cooperative targets as rigid constraint conditions, wherein after the iteration algorithm is globally converged, the obtained calculation result is the accurate value of the orientation parameters.
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