An accurate 6-DOF dynamic measurement system with laser tracker for large-scale metrology

被引：0

作者：

Lin, Jiarui ^{[1
]}

Xin, Ruikai ^{[1
]}

Shi, Shendong ^{[1
]}

Huang, Zhe ^{[2
]}

Zhu, Jigui ^{[1
]}

机构：

[1] Tianjin Univ, State Key Lab Precis Measuring Technol & Instrumen, Tianjin 300072, Peoples R China

[2] Tianjin Univ Sci & Technol, 1038 Dagu South Rd, Tianjin 300222, Peoples R China

来源：

MEASUREMENT | 2022年 / 204卷

基金：

中国国家自然科学基金;

关键词：

Large-scale Metrology; 6-DOF Dynamic Measurement; Laser Tracker; Strapdown Inertial Navigation System; Fault -tolerant Kalman Filter; Fault Detection;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

To develop a highly adaptable real-time 6-degree-of-freedom (6-DOF) measurement system for large precision engineering, high precision and good dynamic performance are the key problems to be solved. In this paper, a novel 6-DOF total measurement system is proposed, which is composed of a vision-inclination combining pose measurement target sensor (PMTS), a built-in strapdown inertial navigation system (SINS) and a cooperative laser tracker as the base station. And a precise mathematical model is established by the measured data from laser tracker, PMTS and SINS to the 6-DOF variables output. Meanwhile, a turntable-based calibration method for the PMTS and the inertial measurement unit (IMU) is proposed. More importantly, to solve the fatal problem that the inclinometer failed under dynamic conditions, a Fault-tolerant Kalman filter (FKF) based on residual chi-square test is introduced. Finally, comparative experiment with Leica T-MAC is conducted to verify the precision and dynamic performance of proposed methods.

引用

页数：13

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