Optimization for calibration of large-scale optical measurement positioning system by using spherical constraint

Zhao, Ziyue; Zhu, Jigui; Xue, Bin; Yang, Linghui

doi:10.1364/josaa.31.001427

Cited by 25 publications

(14 citation statements)

References 22 publications

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“…From (3), each transmitter-receiver pair gives two plane-constraint equations and among the receivers, any two receivers give one distance-constraint equation. Thus, at least plane-constraint equations and (1/2)i (i − 1) distanceconstraint equations can be established totally as (23). For obtaining the solutions, it must be ensured that the condition that (1/2)i (i − 1) + 2i ≥ 3i is satisfied which is equivalent to i ≥ 3.…”

Section: B Multilandmarks Position and Orientation Calculation Methodsmentioning

confidence: 99%

“…Similar with (23), N represents the number of the landmark receivers to be detected. M is the penalty factor and both of them are nonlinear minimization problem, which can be solved by the Levenberg-Marquardt algorithm [28].…”

Section: B Multilandmarks Position and Orientation Calculation Methodsmentioning

confidence: 99%

“…1, the system is composed of the following parts: the rotary-laser transmitter [23], the photoelectric receivers as landmark, the signal preprocessor, and the terminal computer. Fig.…”

Section: A System Composition and Working Principlementioning

confidence: 99%

See 2 more Smart Citations

Accurate 3-D Position and Orientation Method for Indoor Mobile Robot Navigation Based on Photoelectric Scanning

Huang

Zhu

Yang

et al. 2015

IEEE Trans. Instrum. Meas.

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Position and orientation of indoor mobile robots must be obtained real timely during operation in structured industrial environment, so as to ensure the security and efficiency of cargo transportation and assembly precision. But for such a large-scale space, only 2-D coordinates and heading angle of the mobile robot can be measured with a relatively low precision in current major methods. This paper presents a novel method for 3-D position and orientation measurement of indoor mobile robot. In this method, a rotary-laser transmitter is utilized, which is mounted on the indoor mobile robot measuring the scanning angles relative to photoelectric artificial landmarks and obtaining its own 3-D space location information. The landmarks whose coordinates in navigation frame should be precalibrated are distributed at the most appropriate positions of the structured industrial environment. On the basis of that, an algorithm of multiangle intersection was established and in-depth discussed to solve transmitter's spatial position and orientation. Experimental results show that, in an 8 m × 6 m × 2.5 m working volume, transmitter's position, and orientation measurement accuracy of proposed method were higher than 3.8 mm and 0.104°, respectively. It demonstrates that the proposed method is reliable and flexible for indoor mobile robot navigation tasks and the measurement accuracy can be further improved by increasing layout density of landmarks.

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Section: B Multilandmarks Position and Orientation Calculation Methodsmentioning

confidence: 99%

Section: B Multilandmarks Position and Orientation Calculation Methodsmentioning

confidence: 99%

See 1 more Smart Citation

Accurate 3-D Position and Orientation Method for Indoor Mobile Robot Navigation Based on Photoelectric Scanning

Huang

Zhu

Yang

et al. 2015

IEEE Trans. Instrum. Meas.

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“…wMPS is prepared to form a measurement network and this measurement network is calibrated by the scale bar of known length. 16 The wMPS is deployed with different layouts and different densities of transmitters, respectively: two, three, and four transmitters (all in "line" type), and four transmitters (in "C" type) are tested. These eight points are measured by the laser tracker to form the reference measurement.…”

Section: Experimental Platform Set-upmentioning

confidence: 99%

Study of network topology effect on measurement accuracy for a distributed rotary-laser measurement system

et al. 2017

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"Study of network topology effect on measurement accuracy for a distributed rotary-laser measurement system," Opt. Eng. 56(9), 094101 (2017), doi: 10.1117/1.OE.56.9.094101. Abstract. The workshop Measurement Positioning System (wMPS) is a large-scale measurement system that better copes with the current challenges of dimensional metrology. However, as a distributed measuring system with multiple transmitters forming a spatial measurement network, the network topology of transmitters relative to the receiver exerts a significant influence on the measurement accuracy albeit one that is difficult to quantify. An evaluation metric, termed the geometric dilution of precision (GDOP), is introduced to quantify the quality of the network topology of the wMPS. The GDOP is derived from the measurement error model of wMPS and its mathematical derivation is expounded. Two significant factors (density and layout of the transmitter) affecting the network topology are analyzed by simulations and experiments. The experimental results show that GDOP is approximately proportional to the measurement error. More transmitters, and a relatively good layout thereof, can decrease the value of GDOP and the measurement error.

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“…[4][5][6][7] The components of the wMPS are a network of transmitters, preprocessors, a terminal computer, and a number of receivers. 9 The traditional transmitter parameter calibration method relies on auxiliary measurement equipment. Thus, the transmitter parameter calibration is a key technique of the system, which is the foundation of the whole measurement network.…”

Section: Introductionmentioning

confidence: 99%

Transmitter parameter calibration of the workspace measurement and positioning system by using precise three-dimensional coordinate control network

et al. 2014

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The workspace measurement and positioning system is a three-dimensional (3-D) coordinate system based on laser scanning, which is widely applied in large-scale metrology. As a core part ensuring measurement accuracy, the transmitter parameters' calibration is the critical technique of the system. The present transmitter parameter calibration method relies on auxiliary measurement equipment, which is more error prone and less efficient. This paper will focus on the improvement of the transmitter parameters' calibration by using a highly precise 3-D coordinate control network. Several calibration points with known coordinates are set in the workspace to establish the precise 3-D coordinate control network. After the new model of transmitter parameter calibration has been explained, both the calculation method for optimization and the production of the initial iteration value are given. As indicated by the results of the verifying experiment, the accuracy and efficiency of the transmitter calibration can be distinctly improved by using the proposed method. The experimental data show that the 3-D coordinate measurement error has obviously decreased from 0.3 to 0.15 mm as a merit of the proposed method.

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Optimization for calibration of large-scale optical measurement positioning system by using spherical constraint

Cited by 25 publications

References 22 publications

Accurate 3-D Position and Orientation Method for Indoor Mobile Robot Navigation Based on Photoelectric Scanning

Accurate 3-D Position and Orientation Method for Indoor Mobile Robot Navigation Based on Photoelectric Scanning

Study of network topology effect on measurement accuracy for a distributed rotary-laser measurement system

Transmitter parameter calibration of the workspace measurement and positioning system by using precise three-dimensional coordinate control network

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