【摘要】：大尺寸空間坐標(biāo)測量技術(shù)一直是精密工業(yè)與工程測量領(lǐng)域的一項重要研究內(nèi)容,近年來隨著激光干涉測距和激光跟蹤儀技術(shù)的發(fā)展,空間坐標(biāo)測量的精度得到了極大的提高,測量空間也越來越大,極大的促進(jìn)了工業(yè)測量技術(shù)的發(fā)展,并且出現(xiàn)了多種工業(yè)測量技術(shù)聯(lián)合測量的趨勢,需要采用新的理論和方法進(jìn)一步提高空間坐標(biāo)測量的精度,建立更高精度的大尺寸空間坐標(biāo)基準(zhǔn),對于提高工業(yè)測量的水平和應(yīng)用范圍具有重要意義。為此,國內(nèi)外的研究機(jī)構(gòu)都基于激光跟蹤儀開展了深入持續(xù)的研究,提出了一些基于激光跟蹤儀的空間坐標(biāo)測量技術(shù)的新方法。本文在研究激光跟蹤儀坐標(biāo)測量特點的基礎(chǔ)上,結(jié)合作者獲批的國家自然科學(xué)基金項目“超高精度工業(yè)測量三維坐標(biāo)基準(zhǔn)建立的理論與方法研究”(批準(zhǔn)號41101446)及航天器精密測量項目的需求,開展了基于激光跟蹤儀的空間坐標(biāo)精密測量技術(shù)研究。本文提出了基于激光跟蹤儀精密距離觀測值建立激光干涉測距三維網(wǎng)平差技術(shù),以高精度測量空間坐標(biāo)值。目前空間坐標(biāo)測量技術(shù)從原理上主要分為角度交會、球坐標(biāo)、空間支導(dǎo)線等三種,而激光跟蹤儀的測角誤差遠(yuǎn)大于測距誤差,是影響點位測量精度的主要誤差因素。在傳統(tǒng)平面測邊網(wǎng)平差模型的基礎(chǔ)上,推導(dǎo)了基于激光干涉測距的空間三維加權(quán)秩虧自由網(wǎng)平差模型,引入附加約束矩陣,解決了無角度基準(zhǔn)條件下的空間三維測距網(wǎng)平差基準(zhǔn)問題,實現(xiàn)了多臺跟蹤儀儀器中心和定向點的空間定位解算。針對激光跟蹤儀的精密干涉測距特點,采用擬穩(wěn)平差、附有系統(tǒng)參數(shù)和附有約束條件的參數(shù)平差模型,進(jìn)一步提高了多臺跟蹤儀中心和定向點的坐標(biāo)測量與解算精度。建立了測站四自由度和測站六自由度的三維邊角網(wǎng)平差模型,實現(xiàn)了多臺激光跟蹤儀在整平和不整平狀態(tài)下的測站平移和旋轉(zhuǎn)參數(shù)的求解。本文根據(jù)激光跟蹤儀的角度和距離測量特點,采用合理的權(quán)陣模型,減弱角度對多臺激光跟蹤儀三維邊角網(wǎng)的平差精度的影響,同時解算得到激光跟蹤儀測站的位置和姿態(tài)參數(shù)。構(gòu)建了廣義USMN平差模型,克服了現(xiàn)有USMN平差模型的缺點,滿足多種測量技術(shù)聯(lián)合測量的特殊需求。將激光跟蹤儀的高精度距離觀測值作為經(jīng)緯儀測量的長度基準(zhǔn),解決了經(jīng)緯儀無互瞄測量和無基準(zhǔn)尺測量條件下的系統(tǒng)定向解算,消除了長度基準(zhǔn)不一致的問題,實現(xiàn)了激光跟蹤儀和立方鏡坐標(biāo)系的轉(zhuǎn)換。構(gòu)建了激光干涉測距三維網(wǎng)和空間距離前方交會測量的三維位置幾何精度衰減因子模型。在多臺激光跟蹤儀定位定向解算的基礎(chǔ)上,本文研究了激光跟蹤儀空間距離前方交會和激光干涉測距三維網(wǎng)的平差解算原理,構(gòu)建了PDOP模型并仿真計算了PDOP值的空間分布等值線圖,研究了PDOP值與圖形體積的關(guān)系,并據(jù)此對激光干涉測距三維網(wǎng)的建立進(jìn)行了優(yōu)化。將激光干涉測距三維網(wǎng)得到的高精度坐標(biāo)值作為參考基準(zhǔn),可以對激光跟蹤儀球坐標(biāo)測量系統(tǒng)進(jìn)行坐標(biāo)精度檢定與誤差補償,無需引入外部參考基準(zhǔn),實現(xiàn)單臺激光跟蹤儀的自校準(zhǔn)。
[Abstract]:Large-scale spatial coordinate measurement technology has always been an important research content in the field of precision industrial and engineering measurement. In recent years, with the development of laser interferometry and laser tracker technology, the precision of spatial coordinate measurement has been greatly improved, and the measuring space has become larger and larger, which greatly promotes the development of industrial measurement technology. It is necessary to adopt new theories and methods to further improve the accuracy of space coordinate measurement and establish a large-scale space coordinate datum with higher precision, which is of great significance to improve the level and application range of industrial measurement. Based on the study of the characteristics of the coordinate measurement of the laser tracker and the project of National Natural Science Foundation of China approved by the author, "the theory and method research on the establishment of three-dimensional coordinate datum for ultra-high precision industrial measurement" In order to meet the requirements of the project of precision measurement of spacecraft, the research of space coordinate precision measurement technology based on laser tracker is carried out. In this paper, a three-dimensional network adjustment technology of laser interferometry based on the precise distance observation of laser tracker is proposed to measure the space coordinate value with high precision. In principle, the technique can be divided into three types: angle intersection, spherical coordinate and space branch traverse. The angle error of laser tracker is far greater than the distance error, which is the main error factor affecting the accuracy of point position measurement. In the adjustment model, the additional constraint matrix is introduced to solve the adjustment datum problem of the three-dimensional space ranging network without angle datum, and the spatial positioning calculation of the center and orientation points of multiple tracking instruments is realized. The coordinate measuring and calculating accuracy of the center and orientation points of multiple laser trackers are further improved by using the numerical adjustment model. The adjustment models of three-dimensional corner net with four degrees of freedom and six degrees of freedom are established, and the translation and rotation parameters of multiple laser trackers in the state of leveling and irregularity are solved. Based on the characteristics of the angle and distance measurement of the laser tracker, a reasonable weight matrix model is adopted to reduce the influence of the angle on the adjustment accuracy of the three-dimensional corner net of the laser tracker, and the position and attitude parameters of the laser tracker are calculated. The generalized USMN adjustment model is constructed to overcome the shortcomings of the existing USMN adjustment model and meet the needs of various measurement techniques. The special requirement of combined measurement is that the high-precision distance observation of laser tracker is taken as the length datum of theodolite measurement, which solves the problem of systematic orientation calculation under the condition of no-mutual-aiming measurement and no-datum-scale measurement, eliminates the problem of inconsistency of length datum, and realizes the transformation of laser tracker and cubic mirror coordinate system. The attenuation factor model of 3-D position geometric accuracy for laser interferometric ranging 3-D network and space distance forward intersection measurement is presented. Based on the positioning and orientation calculation of several laser trackers, the adjustment principle of 3-D network for space distance forward intersection and laser interferometric ranging is studied in this paper. The PDOP model is constructed and simulated. The spatial distribution contour map of PDOP value is calculated, the relationship between PDOP value and figure volume is studied, and the establishment of three-dimensional network for laser interferometric ranging is optimized accordingly. The high-precision coordinate value obtained from the three-dimensional network for laser interferometric ranging is taken as the reference datum, and the coordinate accuracy of the spherical coordinate measuring system of laser tracker can be calibrated and verified. Error compensation does not require the introduction of an external reference standard to achieve self calibration of a single laser tracker.
【學(xué)位授予單位】：解放軍信息工程大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2013
【分類號】：P225.2

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本文編號：2225350