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为了提高室内空间测量定位系统(wMPS)的定向精度,提出了一种数据加权融合实现wMPS各发射站间定向的新方法。方法引入激光跟踪仪控制场三维坐标约束和wMPS发射站光平面约束,将测量不确定度转化为权重进行优化分配,推导了误差传递函数,将摄影测量中的坐标系转换方法用于单个wMPS发射站与全局坐标系间的坐标转换初值的计算,最终建立数据加权融合的定向数学模型并实现解算。仿真表明,利用本文方法,定向平移量误差在0.09 mm以内,用四元数表示的旋转角误差在2.4“以内。按照本文方法定向后的系统,在8m×5m×4m的范围内进行实验,点位测量精度优于0.21mm,基准尺长比对精度优于0.1mm。实验表明,本文方法与传统的利用已知控制点进行定向的方法相比,定向精度得到了明显提高。
In order to improve the orientation accuracy of indoor positioning system (wMPS), a new method of data weighting fusion to achieve the orientation between wMPS transmitting stations is proposed. Methods The laser tracker was used to control the three-dimensional coordinate of the control field and the light plane constraint of the wMPS transmitting station. The measurement uncertainty was transformed into the weight for optimal allocation. The error transfer function was derived. The coordinate transformation method in photogrammetry was used for single wMPS transmission Station and the global coordinate system of the initial value of the conversion between the calculation, and ultimately establish a data-weighted fusion directional mathematical model and to achieve solution. The simulation results show that the error of the directional translation is less than 0.09 mm and the error of the quaternion is within 2.4 ”using this method.According to the system orientated by this method, the experiment is conducted in the range of 8m × 5m × 4m , The accuracy of point measurement is better than 0.21mm and the precision of reference length alignment is better than 0.1mm.The experimental results show that compared with the traditional method of using directional control points, the accuracy of orientation is obviously improved.