Attitude Measurement of Dynamic Object by Laser Tracking System and Optoelectronic Methodology

Abstract

This paper presents a low-cost laser tracking system to measure attitudes of dynamic object and position of the moving target which only need one feature point fixed on it. An attitude measurement modeling is built up to show the coupling of the three attitudes named yaw, pitch and roll. Installation error and lens distortion error are referred to improve the precision of this system. The improvement of the measurement modeling is transferred to be a nonlinear least-squares problem. A Gauss-Newton iterative method is proposed to solve the nonlinear modeling and optimize error parameters. The experiments successfully examined the effectiveness of the proposed modeling and algorithm in terms of: (1) The attitude measurement modeling perfectly describes the relationship of attitudes and measured parameters by system. (2) The corrected modeling takes installation error and lens distortion error into consideration.(3)The error modeling using G-N iteration optimizes error parameters and availably reduces the error of the system.