Research On 6-DOF Dynamic Measurement Method Based On The Laser Tracker

The laser target six-degree-of-freedom(6-DOF)measurement system based on total station and vision camera is a new type of single-point cooperative 6-DOF measurement scheme with the advantages of low measurement space requirement,high measurement efficiency and strong versatility.However,it also has the problem of poor measurement accuracy and dynamic performance,which is reflected in the fact that the total station does not achieve high positioning accuracy aiming at moving objects and the pose measurement with external disturbance acceleration is misaligned.In order to solve these problems,this paper deeply studies 6-DOF dynamic measurement method based on laser tracker and strapdown inertial navigation system(SINS)dynamic 6-DOF measurement method based on laser tracker and SINS.This paper builds a combined measurement system,establishes a system error model and a Kalman fusion filter model,which solves the problem of poor measurement accuracy and dynamic performance.The effectiveness of the method is verified by experiments.The 6-DOF measurement method studied in this paper has a dynamic pose measurement accuracy less than 0.2° and a positional accuracy less than 0.3mm within 5 meters measurement range,which indicates that the method significantly improves the dynamic performance and accuracy of the measurement system.The main work of this paper is as follows:(1)The research introduces and analyzed the research status of 6-DOF measurement method with high precision and high dynamic performance.This paper introduces the composition structure and measurement principle of the combined measurement system.The optical system suitable for the laser tracker is designed.(2)The SINS error model is established by Allan analysis of variance.A calibration method for initial alignment of the IMU coordinate with the laser target coordinate is studied.(3)In this paper,the Kalman fault-tolerant filtering model of the combined system is established,and the multi-sensor time registration scheme is designed to time align the measurement data of SINS with other sensors.The performance of the combined system was analyzed and verified through experiments.