CN106091980B - A kind of autonomous flow formula measuring three-dimensional morphology accuracy control method - Google Patents
A kind of autonomous flow formula measuring three-dimensional morphology accuracy control method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The invention discloses a kind of autonomous flow formula measuring three-dimensional morphology accuracy control method, the control method includes the following steps：Error correction model is established according to the error characteristics of inertia measurement sensor and rule；The priori features information that key structure or point with measured object are included establishes constraint, calculates the optimal estimation value of error correction model；The accumulated error that inertia measurement sensor is corrected using the optimal estimation value of each error parameter, obtains the optimal estimation value of Inertia information.The present invention is not under the premise of introducing other metrical informations, utilize the inherent feature information and the high-precision characteristic of vision measurement in measurement process, the accumulated error of inertia measurement is modified, autonomous flow formula 3 D measuring method is made to meet the required precision of accurate measurement.
Description
Technical Field
The invention relates to the technical field of precision measurement methods, in particular to an autonomous flow type three-dimensional shape measurement precision control method.
Background
The autonomous flowing type three-dimensional topography measuring method is based on a linear array high-speed image sensing technology, makes full use of motion conditions and combines an inertia measuring technology to carry out flowing type three-dimensional topography measurement in a continuous motion process, such as vehicle-mounted tunnel deformation measurement, railway operation fault and defect detection and the like. The method has the most prominent characteristic that the continuous motion information of the sensor is obtained by adopting an inertia measurement method, so that the working mode that the traditional three-dimensional shape measurement method depends on external measurement and is in a successive stepping mode is fundamentally changed, and the autonomous continuous measurement is realized.
In the process of implementing the invention, the inventor finds that at least the following disadvantages and shortcomings exist in the prior art:
the main disadvantage of the inertial measurement method is that its error accumulates over time, and long-term operation introduces large errors. Even if a high-performance inertia measurement device is adopted, the accumulation error cannot be avoided under the long-time working condition, and the final measurement result contains a large measurement error due to large transmission and play.
Therefore, the inertial measurement error must be corrected, so that the characteristics of high precision of visual measurement and autonomy of inertial measurement can be fully exerted, and the comprehensive advantages of the autonomous flow type three-dimensional topography measurement method are reflected.
Disclosure of Invention
The invention provides an autonomous flow type three-dimensional shape measurement precision control method, which corrects the accumulated error of inertial measurement by using the inherent characteristic information and the high-precision characteristic of visual measurement in the measurement process on the premise of not introducing other measurement information, so that the autonomous flow type three-dimensional shape measurement method meets the precision requirement of precision measurement, and is described in detail as follows:
an autonomous flow type three-dimensional topography measurement precision control method comprises the following steps:
establishing an error correction model according to the error characteristics and rules of the inertial measurement sensor;
establishing constraint according to prior characteristic information contained in a key structure or point position of a measured object, and calculating an optimal estimation value of an error correction model;
and correcting the accumulated error of the inertial measurement sensor by using the optimal estimation value of each error parameter to obtain the optimal estimation value of the inertial information.
The steps of establishing constraint by using prior characteristic information contained in a key structure or point position of a measured object and calculating an optimal estimation value of an error correction model specifically comprise:
optimal solution with inertial measurement informationComparing the inertial measurement error correction model for referenceAnd the optimal solutionAnd obtaining the optimal estimation value of each error parameter by an optimal estimation method.
Optimal solution of the inertial measurement informationThe method comprises the following steps:
controlling a multi-element information sensor consisting of a stereoscopic vision sensor and an inertia measurement sensor to continuously measure the surface of the measured object, and obtaining a set A of all points on the surface of the measured object in a coordinate system of the stereoscopic vision sensor through image matching and stereoscopic reconstruction;
identifying and extracting points containing known characteristics from the set A to form a set B;
establishing a corresponding relation between the stereoscopic vision sensor and the inertial measurement sensor according to the global clock to obtain the inertial measurement information corresponding to the point in the set B
Correcting inertial measurement information using points in set BTo obtain an optimal solution of inertial measurement information
The technical scheme provided by the invention has the beneficial effects that:
1. external measurement information is not needed, known constraints such as the surface inherent characteristics of the measured object are utilized, the inertial measurement error is corrected by an information fusion method, and the precision of the autonomous flow type three-dimensional shape measurement is effectively controlled to meet the requirement of precision measurement;
2. in the method, visual measurement information and inertial measurement information are mutually permeated, and the visual measurement information and the inertial measurement information take the advantages of the visual measurement information and the inertial measurement information to make up for the disadvantages, so that the effect of performance complementation is achieved, and functions and precision which are not possessed by the two methods are formed;
3. after the inertial measurement error is corrected by adopting the method, the requirement on the self precision of the inertial measurement sensor is obviously reduced.
Drawings
FIG. 1 is a flow chart of an autonomous flow type three-dimensional topography measurement accuracy control method provided by the present invention;
FIG. 2 is a schematic diagram of an autonomous flow type three-dimensional topography measurement accuracy control method provided by the present invention;
in the figure: 1: a stereoscopic vision sensor; 2: an inertial measurement sensor; 3: all points on the surface of the measured object; 4: points containing known characteristic information.
FIG. 3 is a schematic diagram of inertial measurement error correction.
In the figure: 5: a measurement comprising an inertial measurement error; 6: and correcting the measurement result after the inertial measurement error.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described in further detail below.
Example 1
The embodiment of the invention provides an autonomous flow type three-dimensional shape measurement precision control method, which organically combines two kinds of measurement information with different performances by using a data fusion method and utilizing the characteristic of complementary error performances of visual measurement and inertial measurement, and the method comprises the following steps:
101: establishing an error correction model according to the error characteristics and rules of the inertial measurement sensor 2;
102: establishing constraint according to prior characteristic information contained in a key structure or point position of a measured object, and calculating an optimal estimation value of an error correction model;
103: and correcting the accumulated error of the inertial measurement sensor 2 by using the optimal estimation value of each error parameter to obtain the optimal estimation value of the inertial information, and performing error correction and global optimization on the measurement result.
In step 102, establishing constraints by using prior characteristic information contained in the key structure or point location of the measured object, and calculating the optimal estimation value of the error correction model specifically include:
optimal solution with inertial measurement informationComparing the inertial measurement error correction model for referenceAnd the optimal solutionAnd obtaining the optimal estimation value of each error parameter by an optimal estimation method.
Further, an optimal solution for inertial measurement informationThe method comprises the following steps:
controlling a multi-element information sensor consisting of a stereoscopic vision sensor and an inertia measurement sensor to continuously measure the surface of the measured object, and obtaining a set A of all points on the surface of the measured object in a coordinate system of the stereoscopic vision sensor through image matching and stereoscopic reconstruction;
identifying and extracting points containing known characteristics from the set A to form a set B;
establishing a corresponding relation between the stereoscopic vision sensor and the inertial measurement sensor according to the global clock to obtain the inertial measurement information corresponding to the point in the set B
Correcting inertial measurement information using points in set BTo obtain an optimal solution of inertial measurement information
In summary, the embodiment of the present invention corrects the accumulated error of the inertial measurement by using the inherent characteristic information and the high precision characteristic of the visual measurement in the measurement process without introducing other measurement information, so that the autonomous flow type three-dimensional topography measurement method meets the precision requirement of the precision measurement.
Example 2
The scheme of example 1 is described in detail below with reference to fig. 2 and 3, and is described in detail below:
201: referring to fig. 2, a stereoscopic vision sensor 1 and an inertial measurement sensor 2 based on linear array image sensing synchronously acquire data under the driving of a global clock;
in concrete implementation, before measurement, the parameters of the stereoscopic vision sensor 1 and the conversion relation between the stereoscopic vision sensor 1 and the inertial measurement sensor 2 are obtained through calibration in advance
The parameters of the stereo vision sensor 1 include: the internal parameters of the line-scan camera and the external orientation parameters between the cameras. Switching relationship between the stereo vision sensor 1 and the inertial measurement sensor 2In particular a rotation matrix between the two coordinate systemsAnd translation vectorWherein V denotes the coordinate system of the stereo vision sensor 1 and I denotes the coordinate system of the inertial measurement sensor 2; c is a conversion relation; r is a rotation matrix; t is a translation vector.
202: controlling a multi-element information sensor consisting of a stereoscopic vision sensor 1 and an inertia measurement sensor 2 to continuously measure the surface of the measured object, and obtaining a set A of all points on the surface of the measured object in a coordinate system of the stereoscopic vision sensor 1 through image matching and stereoscopic reconstruction;
wherein,k in the coordinate system of the stereo vision sensor 1 for the nth clocknPoint; n is a global clock sequence number; k is a radical ofnThe number of points under the nth clock; n is the total number of clocks.
203: identifying and extracting points of the spherical target surface in the set A to form a set B;
wherein a plurality of spherical objects are present on the surface of the object to be measured, as shown at 4 in fig. 2. Taking one of the spherical targets as an example, the radius is R and the center of the sphere is O. Identifying and extracting points of the spherical target surface in the set A to form a set B;
wherein,k in the coordinate system of the stereo vision sensor 1 corresponding to the clock m containing the known characteristic informationmPoint; m is the total number of clocks containing known characteristic information; k is a radical ofmThe number of dots per mth clock.
204: establishing a corresponding relation between the stereoscopic vision sensor 1 and the inertial measurement sensor 2 according to the global clock to obtain the corresponding inertial measurement information in the set B
Due to the inertia measurement informationWith accumulated error, the final measurement also contains large measurement error, as shown in fig. 3 at 5, via error propagation.
Therefore, the inertial measurement information including the error is optimized according to the spherical target establishment constraint described in step 203, and an objective function is established:
wherein,the switching relationship of the inertial measurement sensor 2 with respect to the initial state at the mth clock is described.
Solving the large nonlinear equation set by using an optimization method (such as Gauss Newton method, L-M method, etc., which are well known in the art, and the detailed solving method and solving step are not described in the embodiment of the invention) to obtain the optimal solution of the inertial measurement informationAnd the position of the center of the sphereBest solution of O*。
Wherein the output of the inertial measurement sensor 2 is measuredAsAn initial value of (d); the initial value of the sphere center O is obtained by performing space sphere fitting through the points in the set B or is directly determined according to other reference information such as a digital analog, and the specific determination steps are well known to those skilled in the art, and are not described in detail in the embodiments of the present invention.
205: establishing an inertial measurement error correction model according to the error characteristics and the propagation rule of the inertial measurement sensor 2, wherein 15 main errors are adopted;
wherein, delta1,δ2,...δ15The main error terms for the inertial measurement sensor 2, the specific error terms being known to those skilled in the art, are for example: delta1Is the pitch angle error; delta2The embodiment of the invention does not describe the error of the roll angle;is composed ofThe error correction amount of (1).
Further, the error characteristics and propagation rules of the inertial measurement sensor 2 are well known to those skilled in the art, and are not described in detail in the embodiments of the present invention.
The embodiment of the present invention adopts 15 main errors as an example for description, and when the embodiment of the present invention is specifically implemented, the number of errors is determined according to the requirements in practical application, which is not limited in the embodiment of the present invention.
206: steps 204 and 205 are essentially two measurement methods with different principles and different properties to measure the same information source;
thus, with the optimal solution of inertial measurement information in step 204As a basis, compareAndthe difference of (a) is obtained by an optimal estimation method (such as Kalman filtering, which is a method known in the art, and the detailed solving method and solving steps are not described in the embodiment of the invention) to obtain an optimal estimation value delta of each error parameter1 *,δ2 *,...δ15 *。
207: and correcting the accumulated error of the inertial measurement sensor 2 by using the optimal estimation value of each error parameter to obtain the optimal estimation value of the inertial information.
And then the optimal estimated value of all the points in the point set a is obtained, as shown in fig. 3 at 6.
Wherein,the switching relationship of the inertial measurement sensor 2 relative to the initial state under all clocks;is composed ofError correction amount of；Is composed ofThe optimal estimated value of (a).
The embodiment of the invention only takes one spherical characteristic constraint as an example, and a plurality of constraints can be established by utilizing various characteristics to jointly correct the inertial measurement error in practical application.
In summary, the embodiment of the present invention corrects the accumulated error of the inertial measurement by using the inherent characteristic information and the high precision characteristic of the visual measurement in the measurement process without introducing other measurement information, so that the autonomous flow type three-dimensional topography measurement method meets the precision requirement of the precision measurement.
In the embodiment of the present invention, except for the specific description of the model of each device, the model of other devices is not limited, as long as the device can perform the above functions.
Those skilled in the art will appreciate that the drawings are only schematic illustrations of preferred embodiments, and the above-described embodiments of the present invention are merely provided for description and do not represent the merits of the embodiments.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (1)
1. An autonomous flow type three-dimensional topography measurement precision control method is characterized by comprising the following steps:
establishing an error correction model according to the error characteristics and rules of the inertial measurement sensor;
establishing constraint according to prior characteristic information contained in a key structure or point position of a measured object, and calculating an optimal estimation value of an error correction model;
correcting the accumulated error of the inertial measurement sensor by using the optimal estimation value of each error parameter to obtain the optimal estimation value of the inertial information;
the steps of establishing constraint by using prior characteristic information contained in a key structure or point position of a measured object and calculating an optimal estimation value of an error correction model specifically comprise:
optimal solution with inertial measurement informationComparing the inertial measurement error correction model for referenceAnd the optimal solutionObtaining the optimal estimation value of each error parameter by an optimal estimation method;
wherein the optimal solution of the inertial measurement informationThe method comprises the following steps:
controlling a multi-element information sensor consisting of a stereoscopic vision sensor and an inertia measurement sensor to continuously measure the surface of the measured object, and obtaining a set A of all points on the surface of the measured object in a coordinate system of the stereoscopic vision sensor through image matching and stereoscopic reconstruction;
identifying and extracting points containing known characteristics from the set A to form a set B;
establishing a corresponding relation between the stereoscopic vision sensor and the inertial measurement sensor according to the global clock to obtain the inertial measurement information corresponding to the point in the set B
Correcting inertial measurement information using points in set BTo obtain an optimal solution of inertial measurement information
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| CN103995152A (en) * | 2014-05-09 | 2014-08-20 | 北京航空航天大学 | Three-dimensional measurement accelerometer error non-singularity estimation method in external field environment |
| CN104215262A (en) * | 2014-08-29 | 2014-12-17 | 南京航空航天大学 | On-line dynamic inertia sensor error identification method of inertia navigation system |
| CN104964656A (en) * | 2015-06-26 | 2015-10-07 | 天津大学 | Self-positioning flowing-type rapid scanning measuring device and method based on inertial navigation |
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| CN103995152A (en) * | 2014-05-09 | 2014-08-20 | 北京航空航天大学 | Three-dimensional measurement accelerometer error non-singularity estimation method in external field environment |
| CN104215262A (en) * | 2014-08-29 | 2014-12-17 | 南京航空航天大学 | On-line dynamic inertia sensor error identification method of inertia navigation system |
| CN104964656A (en) * | 2015-06-26 | 2015-10-07 | 天津大学 | Self-positioning flowing-type rapid scanning measuring device and method based on inertial navigation |
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Effective date of registration: 20190620 Address after: 300 000 Tianjin Binhai Hi-tech Zone Huayuan Industrial Zone (Outside the Rim) Haitai Development Six Ways No.3 Star Enterprise No.1 Park Workshop on the Eastern Side of the Fifth Floor Patentee after: Easy thinking (Tianjin) Technology Co., Ltd. Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee before: Tianjin University |