| 黄 喆,沈小玲,张 历,徐叶倩,燕庆德.面向双相机标靶的倾斜仪安装误差补偿方法[J].电子测量与仪器学报,2022,36(7):152-159 |
| 面向双相机标靶的倾斜仪安装误差补偿方法 |
| Compensation method for installation error ofinclinometer with dual-camera target |
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| DOI： |
| 中文关键词: 姿态测量 倾斜仪 安装误差 误差补偿 |
| 英文关键词:pose measurement inclinometer installation error error compensation |
| 基金项目:天津市自然科学基金（18JCYBJC88600）、天津大学精密测试技术与仪器国家重点实验室开放课题（pilab1905）项目资助 |
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| 中文摘要: |
| 针对双轴倾斜仪在和其他位姿测量传感器组合应用时,由于自身坐标轴真实指向无法通过机械外壳准确映射,造成其
难以实现安装位置误差精确标定,进而导致引入测量误差的问题。 以面向直线顶管掘进机导向的双相机标靶为研究对象,利用
三点位姿转换算法求取姿态角理论值,再结合双轴倾斜仪角度测量值建立误差补偿矩阵,对姿态参数进行校正。 通过仿真分析
和实测实验,提出的方法可以实现双轴倾斜仪测量角度信息的精确补偿,姿态角绝对测量精度优于 0. 02°,满足直线顶管导向
行业精度要求,并可以在其他基于双轴倾斜仪的组合测量系统中广泛推广应用。 |
| 英文摘要: |
| When the dual-axis inclinometer is used in combination with other position and orientation measurement sensors, since the true
direction of its own coordinate axis cannot be accurately mapped by the mechanical enclosure, it is difficult to achieve accurate
calibration of the installation position error, which leads to the problem of measurement error. The object of the study is the dual-camera
target of the linear pipe jacking machine guidance. The theoretical value of the attitude angle is obtained by three points pose
transformation algorithm, and then combined with the angle measurement value of the dual-axis inclinometer to establish an error
compensation matrix, which is used to correct the pose parameters. Through simulation analysis and actual measurement experiments,
the proposed method can realize the accurate compensation of the measurement angle information of the dual-axis inclinometer, and the
absolute measurement accuracy of the attitude angle is better than 0. 02°, which meets the accuracy requirements of the linear pipe
jacking guidance. It can be widely used in other combined measurement systems based on dual-axis inclinometer. |
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