本文選題：大尺寸動(dòng)態(tài)測(cè)量技術(shù)　切入點(diǎn)：動(dòng)態(tài)測(cè)量性能　出處：《天津大學(xué)》2016年博士論文

【摘要】：wMPS(workspace Measuring and Positioning System)是一種基于光電掃描的新型網(wǎng)絡(luò)式大尺寸三維坐標(biāo)測(cè)量系統(tǒng),具有量程覆蓋大、自動(dòng)化程度高、抗干擾能力強(qiáng)、可實(shí)現(xiàn)多任務(wù)同步測(cè)量等優(yōu)勢(shì)。目前對(duì)wMPS的靜態(tài)測(cè)量性能及精度有了較為系統(tǒng)和全面的研究,然而,對(duì)其動(dòng)態(tài)測(cè)量性能和動(dòng)態(tài)測(cè)量誤差分析的相關(guān)研究不足。本文在優(yōu)化全局組網(wǎng)定向方法的前提下,研究了系統(tǒng)動(dòng)態(tài)測(cè)量誤差模型,以此為基礎(chǔ)通過(guò)多發(fā)射站間同步誤差補(bǔ)償和采用卡爾曼濾波模型來(lái)減小系統(tǒng)動(dòng)態(tài)測(cè)量誤差,并進(jìn)行了實(shí)驗(yàn)驗(yàn)證,最終提升了wMPS動(dòng)態(tài)測(cè)量性能。主要研究?jī)?nèi)容如下:1.總結(jié)了在大型裝備制造業(yè)中對(duì)于先進(jìn)大尺寸動(dòng)態(tài)測(cè)量技術(shù)的迫切需求,分析現(xiàn)有的多種測(cè)量方法的優(yōu)勢(shì)和局限,闡述wMPS在解決現(xiàn)場(chǎng)條件下大尺寸動(dòng)態(tài)測(cè)量問(wèn)題中的潛在能力,同時(shí)分析其動(dòng)態(tài)測(cè)量特性,重點(diǎn)分析了相位誤差和同步誤差對(duì)動(dòng)態(tài)測(cè)量的影響,為提高動(dòng)態(tài)測(cè)量性能提供理論依據(jù)。2.構(gòu)建高精度的大尺寸測(cè)量場(chǎng)是實(shí)現(xiàn)wMPS動(dòng)態(tài)性能的前提,研究了基于控制場(chǎng)和基于相對(duì)約束控制聯(lián)合平差的兩種組網(wǎng)定向方法,闡述了定向模型及迭代初值獲取的方法,并分析了兩種方法的優(yōu)缺點(diǎn),最后通過(guò)實(shí)驗(yàn)對(duì)兩種方法的可行性和精度進(jìn)行了驗(yàn)證,為wMPS動(dòng)態(tài)測(cè)量提供了高精度網(wǎng)絡(luò)結(jié)構(gòu)基礎(chǔ)。3.針對(duì)多發(fā)射站間同步誤差補(bǔ)償問(wèn)題,通過(guò)在信號(hào)處理器內(nèi)部搭建基于Microblaze的SOPC嵌入式處理系統(tǒng),實(shí)現(xiàn)多通道信號(hào)在同一時(shí)間基準(zhǔn)下的觸發(fā)、采集,將每個(gè)發(fā)射站的接收信息時(shí)間標(biāo)記。以此為前提引入拉格朗日插值法實(shí)現(xiàn)多發(fā)射站間測(cè)量信息同步,補(bǔ)償了多發(fā)射站間同步誤差,并通過(guò)相關(guān)實(shí)驗(yàn)進(jìn)行驗(yàn)證,提高了動(dòng)態(tài)測(cè)量精度。4.結(jié)合目標(biāo)的運(yùn)動(dòng)特性,引入卡爾曼濾波算法進(jìn)一步減小動(dòng)態(tài)測(cè)量誤差,構(gòu)建了基于線性卡爾曼濾波和擴(kuò)展卡爾曼濾波的動(dòng)態(tài)測(cè)量模型;針對(duì)wMPS實(shí)際動(dòng)態(tài)測(cè)量結(jié)果中的粗大誤差,提出了一種基于卡爾曼濾波原理的粗大誤差辨析和剔除方法;并通過(guò)仿真和實(shí)驗(yàn)驗(yàn)證卡爾曼濾波方法在解決wMPS動(dòng)態(tài)測(cè)量問(wèn)題中的正確性和有效性。5.重要工程應(yīng)用研究。以面向航天GNC仿真實(shí)驗(yàn)為背景,對(duì)wMPS動(dòng)態(tài)測(cè)量性能進(jìn)行驗(yàn)證。通過(guò)現(xiàn)場(chǎng)條件下構(gòu)建高精度測(cè)量場(chǎng),采用多發(fā)射站間同步誤差補(bǔ)償方法和卡爾曼濾波方法,完成了現(xiàn)場(chǎng)條件下動(dòng)態(tài)測(cè)量性能的驗(yàn)證。
[Abstract]:WMPS(workspace Measuring and Positioning system (wMPS(workspace Measuring and Positioning system) is a new type of large scale 3D coordinate measuring system based on photoelectric scanning. It has large range coverage, high degree of automation and strong anti-interference ability. At present, the static measurement performance and precision of wMPS have been studied systematically and comprehensively, however, In this paper, the dynamic measurement error model of the system is studied on the premise of optimizing the global netting orientation method. Based on this, the system dynamic measurement error is reduced by synchronous error compensation between multiple transmitting stations and Kalman filter model. Finally, the dynamic measurement performance of wMPS is improved. The main research contents are as follows: 1.The urgent need for advanced large-scale dynamic measurement technology in large-scale equipment manufacturing industry is summarized, and the advantages and limitations of various existing measurement methods are analyzed. The potential ability of wMPS in solving the problem of large scale dynamic measurement under field conditions is described. The dynamic measurement characteristics of wMPS are analyzed, and the effects of phase error and synchronization error on dynamic measurement are emphatically analyzed. In order to provide theoretical basis for improving the dynamic measurement performance, the construction of high-precision large-scale measurement field is the prerequisite to realize the dynamic performance of wMPS. Two kinds of netting orientation methods based on control field and combined adjustment based on relative constraint control are studied. The directional model and the method of obtaining the initial value of iteration are expounded, and the advantages and disadvantages of the two methods are analyzed. Finally, the feasibility and accuracy of the two methods are verified by experiments. This paper provides a high precision network structure foundation for wMPS dynamic measurement. Aiming at the problem of synchronous error compensation between multiple transmitting stations, the embedded SOPC processing system based on Microblaze is built in the signal processor. The multi-channel signal is triggered and collected under the same time datum, and the time of receiving information of each transmitting station is marked. Based on this, the Lagrangian interpolation method is introduced to realize the synchronization of measurement information between multiple transmitting stations. The synchronization error between multiple transmission stations is compensated and verified by relevant experiments, which improves the dynamic measurement accuracy .4.According to the motion characteristics of the target, the Kalman filter algorithm is introduced to further reduce the dynamic measurement error. A dynamic measurement model based on linear Kalman filter and extended Kalman filter is constructed, and a method of discriminating and eliminating gross error based on Kalman filter principle is put forward in view of the gross error in the actual dynamic measurement results of wMPS. The correctness and validity of Kalman filter method in solving wMPS dynamic measurement problem are verified by simulation and experiment. 5. The important engineering application research. The dynamic measurement performance of wMPS is verified by constructing a high-precision measurement field under field conditions, and the dynamic measurement performance is verified under field conditions by using synchronous error compensation method and Kalman filter method between multiple transmitting stations.
【學(xué)位授予單位】：天津大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2016
【分類號(hào)】：TG806

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本文編號(hào)：1689134