三旋转自由度激光经纬仪的扫描数学模型

冯文灏; 李欣; 樊启斌

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三旋转自由度激光经纬仪的扫描数学模型

冯文灏, 李欣, 樊启斌

文章导航 > 武汉大学学报 ● 信息科学版 > 2002 > 27(2): 179-183

冯文灏, 李欣, 樊启斌. 三旋转自由度激光经纬仪的扫描数学模型[J]. 武汉大学学报 ● 信息科学版, 2002, 27(2): 179-183.

引用本文:

冯文灏, 李欣, 樊启斌. 三旋转自由度激光经纬仪的扫描数学模型[J]. 武汉大学学报 ● 信息科学版, 2002, 27(2): 179-183.

FENG Wenhao, LI Xin, FAN Qibin. The Scanning Mathematical Models of a Laser-theodolite with Three Freedoms of Rotation[J]. Geomatics and Information Science of Wuhan University, 2002, 27(2): 179-183.

Citation:

FENG Wenhao, LI Xin, FAN Qibin. The Scanning Mathematical Models of a Laser-theodolite with Three Freedoms of Rotation[J]. Geomatics and Information Science of Wuhan University, 2002, 27(2): 179-183.

三旋转自由度激光经纬仪的扫描数学模型

1 武汉大学遥感信息工程学院, 武汉市珞喻路129号, 430079;
2 武汉大学数学与统计学院, 武汉市珞珈山, 430072

基金项目: 国家测绘局测绘科技发展基金资助项目(2001-05-04)

详细信息

作者简介:
冯文灏,教授,博士生导师。现主要从事近景摄影测量与特殊精密工业测量技术研究。代表成果:立体视觉系统检校中引入制约条件的推演;基于三旋转自由度激光经纬仪的结构光工业测量原理和工业测量中特高精度控制网的建立方法等。已发表论文90余篇。E-mail:whfeng@wtusm.edu.cn

中图分类号: P234.1;TB2

The Scanning Mathematical Models of a Laser-theodolite with Three Freedoms of Rotation

1 School of Remote Sensing and Information Engineering, Wuhan University, 129 Luoyu Road, Wuhan, China, 430079;
2 School of Mathematics and Statistics, Wuhan University, Luojia Hill, Wuhan, China, 430072

摘要: 首先给出二旋转自由度激光经纬仪的铅垂面扫描方程和圆锥面扫描方程的推演结果,然后着重推演三旋转自由度激光经纬仪的扫描方程,其中包括绕竖轴(主轴)旋转生成的单叶双曲面扫描方程、绕横轴(副轴)旋转的单叶双曲面扫描方程以及绕视准轴(第三轴)旋转的给定方位的平面扫描方程。
- 激光经纬仪 /
- 旋转自由度 /
- 扫描 /
- 模型 /
- 单叶双曲面 /
- 结构光 /
- 工业测量
Abstract: The structured light industrial surveying with high accuracy(e.g.±1mm) based on laser theodolite with three freedoms of rotation is particularly applicable for texture-lacking objects,such as capacity of oil tanker,external form of airplane and ship etc.As we know that certain instrument(such as Leica Profiler 4000) can not be used for this kind of objects,because its standard error(±5mm,even more) does not satisfy the accuracy reguirement.In this paper the scanning equation of plumb plane and the scanning equation of circular cone are firstly deduced when the laser theodolite with two freedoms of rotation is used.Then some scanning equations are briefly deduced when the instrument with three freedoms of rotation is used.These equations include the scanning equation of huperbolid of one sheet generated by rotating around the vertical axis(host axis),the scanning equation of huperbolid of one sheet generated by rotating around the horizotal axis(countershaft axis),and the scanning equation of plane for given orientation generated by rotating around the third axis.According to these planes and surfaces of known position and orientation in space,the space coordinates of unknown points could be determinates,and just one angle-measured instrument(or one CCD camera) is needed.The accuracy obtained by using this system(through the intersection) is much better than the accuracy by using the total station without reflector,(such as TCR,Leica).Furthermore,the system consists of a laser-theodolite,an angle-measured instrument and a portable computer,so it belongs to"toy bricks type" and it is quite cheap.It is also emphasized that the mathematical models in this paper could be used as designing model of certain laser scanning system.
- laser theodolite /
- freedoms of rotation /
- scanning /
- model /
- huperbolid of one sheet /
- structured light /
- industrial surveying

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三旋转自由度激光经纬仪的扫描数学模型

1 武汉大学遥感信息工程学院, 武汉市珞喻路129号, 430079;

2 武汉大学数学与统计学院, 武汉市珞珈山, 430072

基金项目: 国家测绘局测绘科技发展基金资助项目(2001-05-04)

作者简介:
冯文灏,教授,博士生导师。现主要从事近景摄影测量与特殊精密工业测量技术研究。代表成果:立体视觉系统检校中引入制约条件的推演;基于三旋转自由度激光经纬仪的结构光工业测量原理和工业测量中特高精度控制网的建立方法等。已发表论文90余篇。E-mail:whfeng@wtusm.edu.cn

收稿日期: 2001-10-20
刊出日期: 2002-02-05

中图分类号: P234.1;TB2

关键词:

激光经纬仪 /

旋转自由度 /

扫描 /

模型 /

单叶双曲面 /

结构光 /

工业测量

摘要: 首先给出二旋转自由度激光经纬仪的铅垂面扫描方程和圆锥面扫描方程的推演结果,然后着重推演三旋转自由度激光经纬仪的扫描方程,其中包括绕竖轴(主轴)旋转生成的单叶双曲面扫描方程、绕横轴(副轴)旋转的单叶双曲面扫描方程以及绕视准轴(第三轴)旋转的给定方位的平面扫描方程。

English Abstract

The Scanning Mathematical Models of a Laser-theodolite with Three Freedoms of Rotation

1 School of Remote Sensing and Information Engineering, Wuhan University, 129 Luoyu Road, Wuhan, China, 430079;

2 School of Mathematics and Statistics, Wuhan University, Luojia Hill, Wuhan, China, 430072

Received Date: 2001-10-20
Publish Date: 2002-02-05

Keywords:

Abstract: The structured light industrial surveying with high accuracy(e.g.±1mm) based on laser theodolite with three freedoms of rotation is particularly applicable for texture-lacking objects,such as capacity of oil tanker,external form of airplane and ship etc.As we know that certain instrument(such as Leica Profiler 4000) can not be used for this kind of objects,because its standard error(±5mm,even more) does not satisfy the accuracy reguirement.In this paper the scanning equation of plumb plane and the scanning equation of circular cone are firstly deduced when the laser theodolite with two freedoms of rotation is used.Then some scanning equations are briefly deduced when the instrument with three freedoms of rotation is used.These equations include the scanning equation of huperbolid of one sheet generated by rotating around the vertical axis(host axis),the scanning equation of huperbolid of one sheet generated by rotating around the horizotal axis(countershaft axis),and the scanning equation of plane for given orientation generated by rotating around the third axis.According to these planes and surfaces of known position and orientation in space,the space coordinates of unknown points could be determinates,and just one angle-measured instrument(or one CCD camera) is needed.The accuracy obtained by using this system(through the intersection) is much better than the accuracy by using the total station without reflector,(such as TCR,Leica).Furthermore,the system consists of a laser-theodolite,an angle-measured instrument and a portable computer,so it belongs to"toy bricks type" and it is quite cheap.It is also emphasized that the mathematical models in this paper could be used as designing model of certain laser scanning system.

冯文灏, 李欣, 樊启斌. 三旋转自由度激光经纬仪的扫描数学模型[J]. 武汉大学学报 ● 信息科学版, 2002, 27(2): 179-183.

引用本文:

冯文灏, 李欣, 樊启斌. 三旋转自由度激光经纬仪的扫描数学模型[J]. 武汉大学学报 ● 信息科学版, 2002, 27(2): 179-183.

FENG Wenhao, LI Xin, FAN Qibin. The Scanning Mathematical Models of a Laser-theodolite with Three Freedoms of Rotation[J]. Geomatics and Information Science of Wuhan University, 2002, 27(2): 179-183.

Citation: