Quaternion bundle adjustment of laser tracker with geometric self-constraint
In order to improve the overall error control ability of laser tracker multi-station measurement data processing method,and explore the constraints inside the data,based on quaternions coordinate transformation theory,combined with laser tracker measurement scene and its data characteristics,a laser tracker quaternions bundle adjustment with geometric self-constraint is proposed. The quaternions coordinate transformation is introduced into the normal laser tracker bundle adjustment,replacing the traditional coordinate transformation method involving trigonometric function,and combining with the geometric constraint condition that the distance between the same points group observed by each station is constant,the geometric self-constraint equation is established as the constraint condition to solve the indirect adjustment. The coordinate difference comparison between the measured data and the traditional laser tracker data processing method shows that the proposed method is superior to the traditional method in plane accuracy,and the planar accuracy is 28％ better than that of the normal bundle method. The elevation accuracy is at the same level,the overall point accuracy is better than 0. 050 mm,and the overall error control is good. The method can control the error distribution in the measurement space to a certain extent,and provide reference for data processing and error control methods in the measurement application scenarios of laser tracker such as alignment measurement.
万方数据
维普
