光学精密工程2025，Vol.33Issue(5)：728-740,13.DOI:10.37188/OPE.20253305.0728
基于长度角度并行传感的多目标位姿测量
Multi-target pose measurement method based on distance and angle parallel measurement
摘要
Abstract
Large-scale precision pose measurement technology plays a critical role in the automation and high-precision assembly of advanced equipment,including aircraft,spacecraft,ships,and radio tele-scopes.This paper addresses the limitations of traditional methods that frequently overlook the simultane-ous optimization of measurement efficiency and accuracy.A novel multi-target pose measurement tech-nique,which utilizes parallel distance and angle measurements,is proposed.This approach employs rota-ry-laser scanning for the autonomous identification of multiple targets while providing high-precision angu-lar constraints.A high-dynamic steering mirror aligns the absolute ranging beam with cooperative targets,thereby facilitating point-by-point scanning for parallel measurements.Additionally,a cooperative target is designed,integrating photoelectronic receivers and retroreflectors,and a precise pose measurement model is formulated that fuses distance and angle data through weighted considerations.Furthermore,a high-pre-cision calibration method for system parameters is introduced,and a detailed analysis of measurement un-certainty is presented.The relationship between target position and orientation relative to the base station and pose measurement accuracy is thoroughly examined.Experimental validation confirms the method's feasibility and accuracy,achieving position and attitude measurement precision of better than 0.131 mm and 0.041°,respectively,with repeatability better than 0.034 mm and 0.018°.The average measurement time for each target in the multi-target assessment is 0.9 s.This method effectively combines high efficien-cy with measurement accuracy in multi-target pose evaluation.关键词
位姿测量/大尺寸测量/光电扫描/绝对测距/多目标Key words
pose measurement/large-scale metrology/rotary-laser scanning/absolute distance measure-ment/multi-target分类
机械工程引用本文复制引用
杨朔,韩野,杨凌辉,吴腾飞,史慎东,董文博,邾继贵..基于长度角度并行传感的多目标位姿测量[J].光学精密工程,2025,33(5):728-740,13.基金项目
国家自然科学基金资助项目(No.52127810,No.52205572,No.51975408) （No.52127810,No.52205572,No.51975408）
航空动力系统与等离子体技术全国重点实验室开放基金课题(No.6142202220302) （No.6142202220302）
中国商飞大飞机先进总装技术创新联合体项目 （）
天津市自然科学基金面上项目(No.23JCYBJC01580) （No.23JCYBJC01580）
