This paper discusses the measurement precision loss problem introduced by the inconsistent between measurement space and calibration space and presents a hybrid calibration method to solve this problem. The proposed method establishes the hybrid adjustment model based on the ray intersection constraint, ruler length constraint, and sparse control points' rescan constraint. The Levenberg-Marquardt algorithm is employed to solve the objective function. The initial value is calculated in two steps, in which the ruler length constraint is used to calculate the relationship between each transmitter, and the global coordinate system's transformation parameter is calculated by space intersection. In addition, the part of the adjustment objective function introduced by the ray intersection constraint is extended by considering the ray intersection constraint of the measured point. About 78% improvement in measurement accuracy is achieved compared with the traditional way.
Limited by the principle of multi-angle intersection measurement, photoelectric scanning measurement systems such as workshop Measuring and Positioning System (wMPS) and indoor Global Positioning System (iGPS) have systematical positioning errors when measuring moving targets. Fusing target movement information can effectively compensate the positioning error introduced by the relative motion between the target and the transmitter. Inertial measurement systems are capable of high-frequency, all-weather and autonomous rotation and acceleration measurement. They have good measurement complementarity with photoelectric scanning measurement systems. Integrating movement information from inertial measurement unit (IMU) is an effective method to improve the dynamic measurement performance. Inertial information fusion needs two preconditions: the first one is clock synchronization and the second one is spatial alignment. In response to the two problems above, we research on wMPS and propose a wMPS-IMU integrated online calibration method. The time offset of the two systems is precisely calibrated by compensating the delay between the wMPS reference clock and the IMU clock. Due to the fact that wMPS receivers and the IMU are connected as a rigid body, the rotation R and the translation T between the wMPS and the IMU can be easily calibrated through a linear estimation method. Our novel method benefits to achieve real-time online temporal and spatial calibration without the help of any external measurement equipment and prior information and significantly improves the applicability of wMPS. Verification experiments were carried out. A three-axis turntable and a linear guide were utilized as the roundness and straightness references. The calibration experiment shows that the calibration accuracy of our method is at the same level as that achieved from the high accuracy coordinate measuring machine (CMM). The precision evaluation experiment shows that the hybrid wMPS-IMU system calibrated through the proposed method has slightly better dynamic performance than that calibrated on a CMM. This method is fully verified to be effective.
This paper presents a multi-dimensional evaluation method of the angle measurement performance for the transmitter of the photoelectric scanning measurement network. As a distributed measurement system based on the multi-angle intersection, the accuracy of the angle measurement of the transmitter directly determines the measurement accuracy of the entire system. At present, there are few methods of evaluating the angle measurement performance for the transmitter. Multiple receivers are placed around the transmitter in a certain order and kept at the same level as much as possible. Based on circumferential closure and statistical knowledge, this method can evaluate the angle repeatability of different angle positions and the rotational speed volatility of the angular separations between adjacent receivers. The rotational speed volatility of the transmitter is important for the optimization of the angle measurement performance of the transmitter. Through experiments, we find that the method can reflect more information about the shafting, which can provide a good reference for the subsequent system upgrade.
Large-scale dynamic three-dimension coordinate measurement technique is eagerly demanded in equipment manufacturing. Noted for advantages of high accuracy, scale expandability and multitask parallel measurement, optoelectronic scanning measurement network has got close attention. It is widely used in large components jointing, spacecraft rendezvous and docking simulation, digital shipbuilding and automated guided vehicle navigation. At present, most research about optoelectronic scanning measurement network is focused on static measurement capacity and research about dynamic accuracy is insufficient. Limited by the measurement principle, the dynamic error is non-negligible and restricts the application. The workshop measurement and positioning system is a representative which can realize dynamic measurement function in theory. In this paper we conduct deep research on dynamic error resources and divide them two parts: phase error and synchronization error. Dynamic error model is constructed. Based on the theory above, simulation about dynamic error is carried out. Dynamic error is quantized and the rule of volatility and periodicity has been found. Dynamic error characteristics are shown in detail. The research result lays foundation for further accuracy improvement.
The workshop Measurement and Positioning System (wMPS) based on the rotary-laser scanning technology has been widely applied in the manufacturing industry to provide an accurate and robust coordinate measurement. However, some vibration-related problems in the rotating machinery inevitably exist. These problems influence the measurement accuracy of wMPS and even reduce its service life. In this paper, the rotating machinery vibration analysis of wMPS is introduced. Some significant factors causing vibrations, such as the mass imbalance of the rotor, are discussed. The vibration signals of rotating machinery are captured experimentally by the three-axis accelerometer. These raw vibration signals are processed by the data pretreatment, the time-domain analysis and the frequency-domain analysis. Based on these analyses, some evaluation criteria of rotating machinery vibration are introduced. These criteria provide guidance to the fault detection and ensure the ongoing operational condition of wMPS.
In this paper, on the basis of considering the performance advantages of two-step method, we combines the stereo matching of binocular stereo vision with active laser scanning to calibrate the system. Above all, we select a reference camera coordinate system as the world coordinate system and unity the coordinates of two CCD cameras. And then obtain the new perspective projection matrix (PPM) of each camera after the epipolar rectification. By those, the corresponding epipolar equation of two cameras can be defined. So by utilizing the trigonometric parallax method, we can measure the space point position after distortion correction and achieve stereo matching calibration between two image points. Experiments verify that this method can improve accuracy and system stability is guaranteed. The stereo matching calibration has a simple process with low-cost, and simplifies regular maintenance work. It can acquire 3D coordinates only by planar checkerboard calibration without the need of designing specific standard target or using electronic theodolite. It is found that during the experiment two-step calibration error and lens distortion lead to the stratification of point cloud data. The proposed calibration method which combining active line laser scanning and binocular stereo vision has the both advantages of them. It has more flexible applicability. Theory analysis and experiment shows the method is reasonable.
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