Design of dynamic tracking and guiding system for laser-electronic theodolite

ZHOU Hu; ZHU Ji-gui; ZHANG Zi-li; YE Sheng-hua

doi:10.3788/OPE.20111911.2671

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Design of dynamic tracking and guiding system for laser-electronic theodolite

Article | 更新时间：2020-08-12

- Design of dynamic tracking and guiding system for laser-electronic theodolite
- Optics and Precision Engineering Vol. 19, Issue 11, Pages: 2671-2678(2011)
- 作者机构：
  
  天津大学精密测试技术及仪器国家重点实验室,天津 300072
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20111911.2671
  CLC： TH712;TH761.1
- Received：22 March 2011，
  
  Revised：05 May 2011，
  
  Published Online：25 November 2011，
  
  Published：25 November 2011
- 稿件说明：
移动端阅览
周虎, 邾继贵, 张滋黎, 叶声华. 激光电子经纬仪动态跟踪引导系统的设计[J]. 光学精密工程, 2011,19(11): 2671-2678

ZHOU Hu, ZHU Ji-gui, ZHANG Zi-li, YE Sheng-hua. Design of dynamic tracking and guiding system for laser-electronic theodolite[J]. Editorial Office of Optics and Precision Engineering, 2011,19(11): 2671-2678
周虎, 邾继贵, 张滋黎, 叶声华. 激光电子经纬仪动态跟踪引导系统的设计[J]. 光学精密工程, 2011,19(11): 2671-2678 DOI： 10.3788/OPE.20111911.2671.

ZHOU Hu, ZHU Ji-gui, ZHANG Zi-li, YE Sheng-hua. Design of dynamic tracking and guiding system for laser-electronic theodolite[J]. Editorial Office of Optics and Precision Engineering, 2011,19(11): 2671-2678 DOI： 10.3788/OPE.20111911.2671.

摘要

设计了一种基于视觉的激光电子经纬仪跟踪引导系统来提高电子经纬仪工作效率

实现其在大空间范围内目标点的动态测量。介绍了跟踪引导系统结构组成并分析了外置扫描设备以及激光电子经纬仪的运动特性。建立扫描设备运动学模型

说明了利用空间坐标转换关系

通过光轴搜索法实现了经纬仪激光点自动引导的策略。然后

给出了镜头的变焦控制方法。最后

提出了基于扩展Kalman滤波估值的运动目标动态跟踪方法

将动态目标物与经纬仪激光点同时定位于摄像机视场中心区域。实验结果表明

所提方法能够正确预测估计运动目标状态

经纬仪激光点引导精度最终可达0.08 ()/m。该系统结合了激光跟踪动态测量以及电子经纬仪不受测量目标类型限制的优势

实现了基于激光电子经纬仪的传统空间角度交汇方法在动态精密测量领域的应用。

Abstract

A tracking and guiding system based on machine vision for a laser-electronic theodolite was designed to improve its work efficiency and implement the dynamic measuring in a large space. Systematic architectures of the system was introduced and the motion characteristics of outrigger scanning instruments and laser-electronic theodolite were analyzed. Based on establishing a motion model of scanning instruments

the strategy of automation guidance for laser spots of the theodolite was realized by coordinate transformation and the process of searching the optical axis of a lens. Then

the method to focus and control the lens was given. Finally

the dynamic tracking method using extended Kalman filtering estimation for a moving object was proposed to locate the target and laser spots in a center region of the image simultaneously. The experimental results indicate that the status of the moving object can be predicted accurately and the final guiding accuracy for laser spots has been reached 0.08()/m. In conclusion

the proposed system combines the advantages of the dynamic measurement process for laser tracking and no limitation in measurement styles for theodolite

which allows the laser-electronic theodolite systems based on traditional angle forward intersection to dynamic measuring fields.

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references

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