Abstract
Nowadays, the position and posture of moving objects are playing more and more important roles in space flight, navigation, target tracking and so on. It is crucial to obtain high-precision position and posture of the carriers. Using multiple laser trackers, high-precision position and posture of the carriers can be obtained, but there are still some errors due to the influence of noise and other factors. In this paper, a current statistical model is built, the Kalman filter adaptive algorithm is designed to filter the sampling data of the three laser trackers, removing the influence of noise and other factors on the laser tracking system and obtaining more accurate sampling coordinates. Besides, the three-spline interpolation method is used to obtain the position coordinates of the carrier at any time. Finally, the high-precision position and posture of the carrier at any time are obtained through the calculation of position and posture.
Fund projects: National Key R&D Plan (2017YFF0206000); National Natural Fund projects (No. 41501491).
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Ye Z (2013) Measuring method of relative position and posture based on TOF camera, Hefei Industry University
Chou J-Y, Chang C-M (2018) Decentralized damage detection of seismically-excited buildings using multiple banks of Kalman estimators. Adv Eng Inf 38:1–13
Mehammer EB, Føre M, Sauder T, Chabaud VB, Parisini T (2018) Kalman estimation of position and velocity for ReaTHM testing applications. J Phys: Conf Ser 1104(1):012008
Li J (2018) Research on key technologies of radar maneuvering target tracking, Dalian Maritime University
Liu W, Pan H, Li Y (2016) Fuzzily adaptive algorithm for current statistical model of maneuvering target. J Ordnance Eng 37(11):2037–2043
Liu N (2016) Adaptive filtering algorithm based on maneuvering target tracking model, Zhejiang University of Technology
Peng D (2008) Basic principle and application of Kalman filter, Graduate School, China University of Geosciences
Feng K (2015) Research on algorithms and system design in multi-target tracking technology, Jiangsu University of Science and Technology
Zhu C (2000) Numeric Computing Method and Its Application, 2nd edn. Science Education Press, pp 23–58
(2005) Manual of Modern Applied Mathematics-Computation and Numerical Analysis, 1st edn. Tsinghua University Press, pp 100–130
Li X, Xiang M, Fan B, Wang T, Zhou W (2018) Analysis and improvement of calibration accuracy of kinematic parameters of industrial robots. J Surv Mapp Sci Technol 35(03):255–259
Xiang M, Fan B, Li X, Long C (2018) Research on coordinate transformation between laser tracker and robot. Aeronaut Manuf Technol 61(Z1):98–101
Wang X, Fan B, Wang T, Yang Z, Zhang G (2017) Accuracy analysis of directional solution for dynamic position and posture of laser tracking measurement. Surv Mapp Eng 26(03):56–59+64
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Luo, H., Yang, Z., Wang, S., Wang, C. (2019). Estimation Method for Position and Posture of Mobile Carrier Based on Multiple Laser Trackers. In: Sun, J., Yang, C., Yang, Y. (eds) China Satellite Navigation Conference (CSNC) 2019 Proceedings. CSNC 2019. Lecture Notes in Electrical Engineering, vol 562. Springer, Singapore. https://doi.org/10.1007/978-981-13-7751-8_32
Download citation
DOI: https://doi.org/10.1007/978-981-13-7751-8_32
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-13-7750-1
Online ISBN: 978-981-13-7751-8
eBook Packages: EngineeringEngineering (R0)