【作者】 高扬；

【导师】 叶声华； 邾继贵；

【作者基本信息】 天津大学 ， 仪器科学与技术， 2017， 博士

【摘要】 大型工程建设是现代社会发展的基本保证,而面向大型工程的精密测量是现代工程建设的基础支撑技术之一。面向大型精密工程的测量内容已经由早期的单一维度的测量发展到目前的三维坐标测量,然而仅仅进行三维坐标测量已经不能完全满足现场需求,发展面向大型精密工程的六自由度测量能力成为一种必然趋势。然而,现代大型工程现场空间尺度大,施工对象复杂多样,工作环境恶劣的特点使得面向大型精密工程的六自由度测量面临着众多困难。因此,发展满足大型精密工程现场的测量距离远,测量精度高,测量效率高实时性好,测量系统适应性强的六自由度测量技术已成为当务之急。本文以大型精密工程中的六自由度测量需求为背景,分析了现有六自由度测量方法的局限性,研究了以全站仪为基站,融合光学、视觉、倾角和惯性传感单元的单合作目标六自由度测量技术,利用了各测量单元的特性,在测量精度、测量距离、测量效率和测量便携可靠等方面达到了良好的性能。全文针对六自由度测量功能的实现与性能提升,依次从测量原理分析、测量模型构建、动态性能提升、测量系统标定等多个方面展开研究,并通过仿真,实验以及结合具体工程应用进行了验证。论文主要研究内容如下:1、针对全站仪的测量特点,研究了以全站仪为基站,融合光学、视觉、倾角和惯性传感单元的单合作目标六自由度测量原理,设计了传感器作为研究平台,进行了详细的光路分析,并研究了有效的图像处理和光斑提取方法。2、研究了测量系统的成像模型,提出了两种姿态求解模型:非冗余姿态求解模型和基于加权双矢量定姿的求解模型,并采用蒙特卡罗仿真方法对两种测量模型进行了误差分析和比较。3、考虑到倾角传感单元在动态条件下测量基准不稳的缺点,研究了基于惯性系统辅助的动态性能提升方法,引入卡尔曼滤波算法实现系统融合。给出了合理的模型选择,建立了滤波方程,确定了滤波参数,并提出了故障诊断方法,最后进行了仿真验证。4、针对测量模型中的各类未知参数,提出了两类标定方法,即分别对各类标定参数分步标定的方法和基于精密三轴转台的一体式标定方法,并通过实验进行了验证。此外,对六自由度测量系统通过实验室内实验和现场应用进行了验证。更多还原

【Abstract】 Large engineering projects are basic guarantee of modern society development,and precision measurement for large engineering projects is one of the basic supporting techniques in modern engineering construction.The measurement for large-scale precision engineering is focused on three-dimensional(3D)coordinate measurement nowadays compared with single dimension measurement in early stage,but 3D coordinate measurement cannot entirely meet the needs in the field,and it is an inevitable trend to develop six-degrees-of-freedom(6DOF)measurement for large-scale precision engineering.However,modern large-scale precision engineering has the characteristics of large-scale field space,various objects and harsh work environment,and these characteristics bring many difficulties to 6DOF measurement.Hence,it is imperative to develop 6DOF measurement techniques,which has long measurement distance,high measurement accuracy,high measurement efficiency,good real-time performance and strong robustness,to meet the demands of large-scale precision engineering.On the background of the demands for 6DOF measurement in large-scale precision engineering,this dissertation analyzes the limitations of the existing 6DOF measurement techniques,and studies a 6DOF measurement system that using total station as base station,and integrating optics,vision,inclinometer and inertial measurement unit as single cooperative target.By exploiting the characteristics of each measurement unit,this technique performs well on measurement accuracy,measurement distance,measurement efficiency,portability and reliability.Focused on the realization of 6DOF measurement and improvement of performance,this dissertation researches on the measuring principle,measurement model,dynamic performance improvement and system calibration successively,and verifies the system through simulations,experiments and specific engineering applications.The main contents of this dissertation are as follows:1.Based on the characteristics of total station,the measuring principle that using total station as base station and integrating optics,vision,inclinometer and inertial measurement unit as single cooperative target is studied.A cooperative target is designed,light path of the system is studied,and an effective method of image processing and spot extraction is proposed.2.The imaging model of measurement system is studied and two attitude solving models are presented: non-redundant attitude solving model and attitude solving model based on the weighted vectors.Error analysis and comparison of two measurement models is conducted through Monte Carlo simulations.3.Based on the fact that the measurement of inclinometer is instable under dynamic conditions,a dynamic measurement method assisted with inertial navigation system is presented.In order to realize system fusion,the Karman filter algorithm is introduced and the selection of Karman filter model is studied.Filter equations are established and filter parameters are determined.A troubleshooting method is also presented.Finally,the measurement method is verified through simulation.4.For the unknown parameters in measurement model,two calibration methods are presented,they are the step-by-step calibration method of calibration parameters and the integrated calibration method based on precise three-axis turntable.The two methods are also verified through experiment.Moreover,the 6DOF measurement system is verified through experiments in laboratory and in specific cases.更多还原