Research On The Measurement Method Of Target Motion Track Based On Laser Tracker

Target trajectory measurement is common in the field of large-scale industrial equipment manufacturing and space component shape and position detection.Due to the need to achieve precise measurement in the state of target motion,which belongs to the category of dynamic measurement in essence,there are few related measurement solutions.In recent years,with the development and application of laser tracking measurement technology,it has become an important means to solve the problem of dynamic measurement because of its technical advantages such as high measurement accuracy,good dynamic tracking performance and flexible station setting.Based on the dynamic measurement technology of Leica AT930 laser tracker,this paper has carried out the research work on the solution of trajectory equation,the analytical calculation of trajectory parameters,the expression of coordinate sequence,trajectory fitting and the analysis of trajectory point jump.The following conclusions are obtained:(1)Taking the classical plane straight line,space straight line,plane circle and space circle as examples,the equation of motion track and its solution are analyzed.In the two-dimensional and three-dimensional space,the vector displacement,the axial angle,the angle of inclination and other trajectory parameters are defined.In the MATLAB environment,the trajectory parameters are automatically obtained by programming.(2)Taking dynamic trajectory measurement as an example,this paper introduces the main methods and steps of measuring coordinate sequence with laser tracker.This paper analyzes the expression method of coordinate sequence in trajectory measurement,analyzes the expression form,advantages and disadvantages of coordinate sequence in MATLAB?S A and other software environments,and defines the data format of coordinate sequence in different software.(3)The measurement validity of cooperative target of laser tracker is tested.RRR spherical prism(Art.No 20586)as the test object,the internal coincidence accuracy of three-dimensional coordinate measurement and the influence of laser incidence angle,sight distance and other factors on the measurement accuracy are systematically tested.The test results show that the internal coincidence accuracy is within the range of 20 m;when the measurement range is more than 20 m,the internal coincidence accuracy decreases seriously.With the increase of the incident angle,the accuracy of the point position is gradually reduced.When the incident angle is within the range of(-15°,+15°),the accuracy is stable,and within the range of 20 m measuring sight distance,the accuracy is stable within 0.001 mm.(4)This paper analyzes the trajectory point jump of classical plane straight line,space straight line,plane circle and space circle.The jumping principle and calculation method of trajectory point jumping are analyzed.The quality of trajectory fitting is evaluated by using the least square principle of motion.(5)The dynamic trajectory measurement technology of laser tracker is applied to the attitude detection project of a coal mine hoist In the winch room where the hoist is located,the laser tracker is installed twice to connect with common points to build a global measurement space.Track and measure the circular running track of the spherical prism on the outer side of the elevator,construct the track equation by using the track coordinate sequence,and carry out the track fitting and track quality evaluation.By fitting the axis coordinates of the main shaft of the hoist,and then analyzing the tilt slope of the main shaft,the height difference between the two sides,the orientation of the main shaft and other parameters,the feasibility of the laser tracker dynamic track measurement applied in the detection is verified.