Abstract
Aiming at the requirement of high precision real-time measurement of attitude angle in modern manufacturing industry, an attitude measurement system based on a Laser Tracker is constructed. A method of attitude measurement based on 2DPSD and monocular vision is proposed, and a target structure for realizing this method is proposed. Firstly, the rolling angle of the target relative to the camera is calculated by monocular vision, and the laser beam vector is obtained by Laser Tracker and 2DPSD. Then, the relative attitude between the Laser Tracker coordinate system and the camera coordinate system is calculated based on SVD. Finally, the transformation relations of unit vector of laser beam in different coordinate systems are established to calculate the attitude of target relative to Laser Tracker. Experiments show that the method can effectively measure the target attitude information, and the maximum error of attitude angle measurement can be less than 2° within the effective angle range of [- 25°, 25°] and distance range of 3m.
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