车间测量定位系统(wMPS)是一种新型的光电扫描分布式测量系统。为提高其动态坐标测量精度,对wMPS的动态坐标测量原理进行了介绍。以扩展卡尔曼滤波算法(EKF)为基础,建立了匀速直线运动模型。并对模型及算法进行了计算机仿真,结合仿真结果,以ABB IRB 2400工业机器人为实验平台,对所提出的方法进行了实物实验验证。实验结果表明:所应用的EKF算法不但可以替代传统的最小二乘算法,实现对运动物体轨迹的估计,还可以减少wMPS动态测量过程中的随机误差,提高精度,完全满足工业现场对移动物体测量定位的需求。 Workshop Measurement and Positioning System (wMPS) is a new type of photoelectric scanning distributed measurement system. In order to improve its dynamic coordinate measurement accuracy, the principle of wMPS dynamic coordinate measurement is introduced. Based on Extended Kalman Filter Algorithm (EKF), a uniform linear motion model is established. The model and algorithm were simulated by computer. Combining with the simulation results, ABB IRB 2400 industrial robot was used as experimental platform to verify the proposed method. The experimental results show that the proposed EKF algorithm not only can replace the traditional least squares algorithm and can estimate the trajectory of moving objects, but also can reduce the random error and improve the precision of wMPS dynamic measurement process, which can fully meet the needs of industrial field measurement of moving objects Positioning needs.