Laser Automatic Tracking Attitude Measurement Method Based On Multi-Source Information Fusion

With the continuous development of China's national economy and the continuous improvement of modern manufacturing level,the attitude measurement requirements of aircraft docking,automobile assembly,industrial robot measurement and calibration in such fields as aerospace,automobile and ship are getting higher and higher.Traditional attitude measurement methods can not meet the needs of current attitude measurement in the measurement range,measurement accuracy,measurement efficiency and so on.In this thesis,a laser automatic tracking attitude measurement method based on multi-source information fusion is studied,in order to lay a theoretical foundation and technical support for the development of 6-DOF laser tracker.The main research work is as follows:1?The mathematical model of attitude measurement based on multi-source data fusion is established.The high sensitivity of monocular vision is used to measure roll angle,and the high resolution of position sensitive detector is used to measure azimuth angle and pitch angle.Based on the conversion relationship of beam vector in different coordinate systems,the final attitude is obtained by weighted least square fusion of monocular vision and photoelectric position sensor measurement data.2?According to the principle of attitude measurement,a cooperative target is designed to meet the needs of attitude measurement.The number,layout and height of the target feature points are designed in detail.On this basis,the pyramid prism,photoelectric position sensor and other components and related circuits are packaged,and the physical target is made.3?The error model of attitude measurement system is established,the error of attitude measurement system is simulated and analyzed by Monte Carlo analysis method,the main error sources of attitude measurement system are determined,and the factors affecting the accuracy of attitude measurement are discussed.4?The experimental platform is built,and the attitude measurement accuracy is evaluated by two-dimensional precision turntable.The experimental results show that:In the measurement range of-30 ° to 30 ° the attitude measurement accuracy can reach0.28 ° at 3m and 1.76 ° at 8m.When the measurement distance is 3 ? 8m,the attitude measurement accuracy is better than monocular vision method and longitudinal projection ratio method.