华中科技大学学报（自然科学版）2011，Vol.39Issue(5)：1-5,5.
三维姿态测量系统的安装误差
Installation errors of three-dimension pose measurement systems
摘要
Abstract
An approach to calibrate and compensate the inclinator's slanting installation error relative to the charge coupled device (CCD) camera was studied based on the rotation algorithm of spatial coordinate. Relative position relationship between the inclinator and the CCD camera was described by the rotation matrix and three installation error parameters were defined. The expressions of the system's measurement errors resulting from the inclinator's slanting installation error were deduced via the compound transformation of rotation matrix. The impact of each installation error parameter on the system's measurement error was analyzed respectively using Monte Carlo method. Finally, the way to calibrate the three installation error parameters was proposed and a compensation experiment of the installation error on a highly accurate three-axis turntable was presented. The given experiment demonstrates that the proposed method reduces the influence of the inclinator's slanting installation error on measuring angle effectively and enables the system to get a higher measurement precision.关键词
姿态测量/安装误差/倾角仪/电荷耦合器件/旋转矩阵/蒙特卡罗法Key words
pose measurement/ installation error/ inclinator/ charge coupled device (CCD) / rotation matrix/ Monte Carlo method分类
机械制造引用本文复制引用
朱国力,文香稳,潘明华..三维姿态测量系统的安装误差[J].华中科技大学学报（自然科学版）,2011,39(5):1-5,5.基金项目
国家重点基础研究发展计划资助项目(2007CB714005). （2007CB714005）
