【摘要】 针对目前工程测量领域六自由度测量存在精度低、实时性和便携性差等问题,设计了一种激光标靶,结合全站仪能够实现空间六自由度测量。在嵌入式平台上,研究了一种以重心法为核心的光斑中心提取算法,该算法重复性精度高、鲁棒性好。通过对相机的非模型化参数标定,提出了一种姿态解算算法。实验数据表明,激光标靶在全站仪坐标测量精度基础上,滚转角和俯仰角测量精度可达0.005°,方位角测量精度可达0.006 2°,满足多种工程测量需求。更多还原

【Abstract】 To overcome problems in current six Degree-of-freedom(DOF) measurement, such as poor portability, low precision and speed, the paper demonstrates a laser target measurement setup based on embedded system. Cooperating with a total station, laser target can achieve six-DOF measurement. A spot center positioning algorithm is proposed which suits for embedded system, and an attitude resolving algorithm based on non-modeled camera calibration. Tested by experimental results, the laser target angel measurement precision of pitch and roll is 0.005 degree, and azimuth angle measurement precision is 0.006 2 degree with a position measurement precision equaling to total station. The present system is able to be applied to wide measuring situations.更多还原