面向激光跟踪测量的大范围高精度姿态测量OA北大核心CSTPCD

Considering the critical need for a high-precision,six-degree-of-freedom measurement system in China's advanced manufacturing sector,this study introduces a novel approach for large-scale,high-ac-curacy attitude measurement utilizing a monocular vision module for laser tracking.Initially,the paper out-lines the hardware configuration of the laser tracking measurement system,encompassing both the attitude measurement system and the cooperative target,and establishes a mathematical model to define spatial at-titude angles accurately.It then delves into the adaptive clear imaging features of the attitude measurement module.By leveraging an optical distortion model and Zhengyou Zhang's calibration algorithm,it crafts a real-time camera imaging model that dynamically adjusts the pixel coordinates of feature points,enhancing the precision of feature point extraction.This is further refined by integrating the geometric traits of the co-operative target with the EPnP and SoftPOSIT algorithms,leading to a sophisticated attitude measure-ment technique complemented by an automatic monitoring and error correction mechanism.This dual ap-proach enables precise automatic measurement across any attitude within the specified distance and mea-surement range.The system's accuracy was validated through experiments using a two-dimensional preci-sion turntable equipped with a cooperative target,showing an impressive attitude measurement accuracy within a 3-10 m range,with yaw and pitch angles within±30° and roll angle within±180°.Specifically,accuracy was better than 0.049° with a 14-feature-point cooperative target and better than 0.065° with a 10-feature-point target.These findings underscore the superiority of this method over other recent laser track-ing measurement techniques,highlighting its broad applicability and minimal constraints on the cooperative target's feature point configuration,thus fulfilling the precision measurement demands of high-end manufac-turing's laser tracking and measurement.