采用红外扫描激光与超声技术的室内空间定位

吴军; 于之靖; 诸葛晶昌; 薛彬

doi:10.3788/OPE.20162410.2417

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采用红外扫描激光与超声技术的室内空间定位

现代应用光学 | 更新时间：2020-07-07

- 采用红外扫描激光与超声技术的室内空间定位
- Indoor positioning by using scanning infrared laser and ultrasonic technology
- 光学精密工程 2016年24卷第10期页码：2417-2423
- 作者机构：
  
  1.中国民航大学航空工程学院, 天津 300300
  2.中国民航大学电子信息与自动化学院, 天津 300300
  3.天津大学海洋科学与技术学院, 天津 300072
- 作者简介：
  
  吴军(1986-),男,山西繁峙人,博士,讲师,2009年、2014年于天津大学分别获得学士、博士学位,主要从事大尺寸光电检测技术、视觉测量和超声检测的研究。E-mail:j_wu@cauc.edu.cn
  [ "于之靖(1963-),男,河北沧州人,教授,博士生导师,1984年于河北科技师范学院获得学士学位,2004年于哈尔滨工业大学获得博士学位,主要从事计算机视觉、图像处理、光纤传感技术、自动化测试技术、视觉测量与图像处理等研究。E-mail:hit_yu@126.com" ]
- 基金信息：
  
  国家自然科学基金与民航联合基金资助项目(No.U1533111，No.U1333105);国家自然科学基金资助项目(No.61405246，No.61505140)
- DOI：10.3788/OPE.20162410.2417
  中图分类号： TN247
- 收稿日期：2016-07-11，
  
  录用日期：2016-8-12，
  
  纸质出版日期：2016-10
- 稿件说明：
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吴军, 于之靖, 诸葛晶昌, 等. 采用红外扫描激光与超声技术的室内空间定位[J]. 光学精密工程, 2016,24(10):2417-2423.

Jun WU, Zhi-jing YU, Jing-chang ZHUGE, et al. Indoor positioning by using scanning infrared laser and ultrasonic technology[J]. Optics and precision engineering, 2016, 24(10): 2417-2423.
吴军, 于之靖, 诸葛晶昌, 等. 采用红外扫描激光与超声技术的室内空间定位[J]. 光学精密工程, 2016,24(10):2417-2423. DOI： 10.3788/OPE.20162410.2417.

Jun WU, Zhi-jing YU, Jing-chang ZHUGE, et al. Indoor positioning by using scanning infrared laser and ultrasonic technology[J]. Optics and precision engineering, 2016, 24(10): 2417-2423. DOI： 10.3788/OPE.20162410.2417.

摘要

为了解决当前定位方法无法兼顾高精度、高集成度、多任务性、实时性测量的问题，提出了一种基于激光测距原理的室内空间定位系统。该方法通过单台测量基站向被测空间内发射旋转扫描红外激光信号以及超声脉冲信号，采用旋转扫描红外激光形成多平面约束，采用高精度超声测距形成距离约束。然后，将多平面约束与距离约束相耦合，得到测量靶标的非线性约束方程组。最后，利用非线性最优化算法解算得到测量靶标的精确空间坐标。该方法仅采用单台测量基站即可完成全周向、多任务实时性的空间测量与定位。采用激光跟踪仪系统作为比对基准验证了本方法的测量精度及可靠性。结果显示，在5 m的被测空间内，其定位测量误差在0.3 mm以内，可满足大多数工业测量应用场合需求。与传统的室内定位方法相比，本方法极大地提高了测量系统的集成度以及测量效率，为全站式空间定位方法提供了新的思路。

Abstract

Because traditional positioning methods can not satisfy its requirements for high accuracy

high integration

multi-task and real-time

an indoor positioning method by using laser ranging technology is proposed for industrial manufacturing fields. This method transmits rotation scanning plane laser signals and ultrasonic pulse signals through a measurement base station. It uses rotation scanning plane infrared laser to form a multi-plane constraint

and uses high precision ultrasonic ranging to form a distance constraints. Then the plane constraint and distance constraint are fused to obtain a nonlinear constraint equation set. Finally

the nonlinear optimal algorithm is used to calculate and obtain the accurate 3D coordinates of the target bar. The method achieves omnidirectional

multi-task and real-time positioning by using a total station. A laser tracker is taken as standard to verify the measuring accuracy and reliability of the proposed method. The experiment results show that the positioning measurement error of the method is less than 0.3 mm within a 5 m range

which meets the most industrial fields. As compared with that of the traditional indoor positioning methods

the proposed method improves the integration level and measuring efficiency and provides a new way for whole station positioning methods.

关键词

Keywords

references

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