CN114894094B - Laser scanner index evaluation method for spatial multi-target layout - Google Patents

Laser scanner index evaluation method for spatial multi-target layout Download PDF

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Publication number
CN114894094B
CN114894094B CN202210822904.7A CN202210822904A CN114894094B CN 114894094 B CN114894094 B CN 114894094B CN 202210822904 A CN202210822904 A CN 202210822904A CN 114894094 B CN114894094 B CN 114894094B
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target
laser scanner
coordinate system
center
sphere
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CN114894094A (en
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邵春丽
黄承义
周剑波
褚加志
布如源
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Qingdao Huanhai Offshore Engineering Survey And Research Institute Co ltd
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Qingdao Huanhai Offshore Engineering Survey And Research Institute Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/03—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points

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  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses a laser scanner index evaluation method for spatial multi-target layout, which belongs to the technical field of geodetic survey and is used for index evaluation of a laser scanner, and the method comprises the following steps: the method comprises the steps of repeatedly measuring a plurality of target balls distributed in space by using a laser scanner to obtain a measured value of the central coordinates of the target balls, and obtaining a reference value of the central coordinates of the target balls by using high-precision equipment, so that a plurality of indexes of the laser scanner are evaluated. The indexes specifically comprise radial repeatability, target repeatability, radial distance indicating errors and space distance indicating errors. The direction of a connecting line between the center of the laser scanner and the center of the reference target ball is the radial direction of the laser scanner, a coordinate system fixedly connected with the laser scanner is a scanning coordinate system, and a coordinate system fixedly connected with the high-precision equipment is a reference coordinate system. The method mainly utilizes a spherical fitting algorithm based on radius constraint to calculate the center coordinates of the target sphere and a three-dimensional coordinate transformation model to calculate conversion parameters from a reference coordinate system to a scanner coordinate system.

Description

Laser scanner index evaluation method for spatial multi-target layout
Technical Field
The invention discloses a laser scanner index evaluation method for spatial multi-target layout, and belongs to the technical field of geodetic surveying.
Background
In the prior art, when the instrument index evaluation is performed by using a baseline method, in order to ensure that the measured distance is the actual distance of the baseline, the conditions of centering and leveling of the instrument, keeping the height between the instrument and a target consistent, leveling the ground and the like are strictly required, so that the operation is complicated; the distance from the laser interferometer to the spherical target is measured, a high-precision linear guide rail and a specific field are needed, and the cost is high; in the method for observing the spherical target by using the traditional single-point measuring instruments such as the total station and the like, if only a small number of points on the surface of the spherical target are measured, the spherical center coordinate obtained by fitting the spherical surface is not accurate, and if more points are measured, the time cost is higher; the scanners at different positions and different heights are used for scanning the target objects at different heights, so that not only is the layout of the target complex, but also the heights of the scanners need to be changed, and the probability of error occurrence in the experiment is increased; in addition, the fitting of the target center coordinate in the prior art is based on only a partial sphere without other constraints, and the center coordinate of the fitting is not accurate. In addition, the operation flow of acquiring the reference data by using instruments such as theodolite and the like is also complex, and the precision of the data is not high enough; or other methods for fixing structural formula targets are used for index evaluation, so that the requirements on aspects such as experimental environment, target structure construction and the like are met, the actual operation efficiency is low, and the difficulty is high. Overall, the prior art needs a lot of external constraints to be satisfied to complete the index evaluation.
Disclosure of Invention
The invention provides a laser scanner index evaluation method for spatial multi-target arrangement, which solves the problem of low precision caused by fewer fitting constraint conditions of target center coordinates in the prior art.
A laser scanner index evaluation method for spatial multi-target layout comprises the following steps:
s1, collecting target ball point cloud data;
s2, acquiring a target sphere center coordinate based on a spherical fitting algorithm of radius constraint;
s3, obtaining the central coordinates of the target ball by using measuring equipment;
s4, calculating conversion parameters from a reference coordinate system to a scanner coordinate system based on the three-dimensional coordinate transformation model;
s5, evaluating multiple indexes of the laser scanner;
s5.1, evaluating the radial repeatability and the target repeatability of the laser scanner;
s5.2, evaluating the radial distance indicating error of the laser scanner;
and S5.3, evaluating the space distance indicating value error of the laser scanner.
Preferably, step S1 includes:
lay a plurality of target balls in the test field, every target ball is inequality to laser scanner's distance, and every target ball erects highly inequality, guarantees that the target ball is spatial distribution in the test field, erects laser scanner simultaneously, utilizes laser scanner to carry out repeated measurement to the target ball in the test field, acquires multiunit point cloud data.
Preferably, step S2 includes:
setting a coordinate system fixedly connected with the laser scanner as a scanner coordinate system, and extracting a target sphere in the point cloud data acquired in the step S1 by using manual or software, wherein the radius of the target sphere is known as
Figure 502853DEST_PATH_IMAGE001
The point cloud data of a single target ball is
Figure 856474DEST_PATH_IMAGE002
Points, each point having coordinates of
Figure 654666DEST_PATH_IMAGE003
，
Figure 902501DEST_PATH_IMAGE004
And establishing a space spherical equation on the basis of the following steps:
Figure 899275DEST_PATH_IMAGE005
wherein,
Figure 689377DEST_PATH_IMAGE006
,
Figure 194439DEST_PATH_IMAGE007
respectively as a sphere center coordinate and a radius;
to pair
Figure 524926DEST_PATH_IMAGE008
Formula expansion and transposition can be obtained:
Figure 625475DEST_PATH_IMAGE009
recording:
Figure 320898DEST_PATH_IMAGE010
solving the over-determined equation according to the following formula
Figure 641152DEST_PATH_IMAGE011
：
Figure 713014DEST_PATH_IMAGE012
Can be obtained by calculation
Figure 356485DEST_PATH_IMAGE013
，
Figure 537324DEST_PATH_IMAGE014
，
Figure 531824DEST_PATH_IMAGE015
，
Figure 141797DEST_PATH_IMAGE016
Obtaining approximate value of the center coordinate of the target sphere under the coordinate system of the scanner
Figure 718403DEST_PATH_IMAGE017
And approximation of target sphere radius
Figure 755629DEST_PATH_IMAGE018
；
Constructor function
Figure 34164DEST_PATH_IMAGE019
，
To the function in
Figure 697095DEST_PATH_IMAGE020
Is linearized in the place, so that
Figure 580738DEST_PATH_IMAGE021
，
Figure 523286DEST_PATH_IMAGE022
，
Figure 39849DEST_PATH_IMAGE023
，
Figure 991625DEST_PATH_IMAGE024
，
Figure 526511DEST_PATH_IMAGE025
，
Figure 411598DEST_PATH_IMAGE026
And obtaining:
Figure 867987DEST_PATH_IMAGE027
wherein,
Figure 623453DEST_PATH_IMAGE028
setting a radius constraint equation of the target sphere as a design value of the radius of the target sphere:
Figure 684950DEST_PATH_IMAGE029
by indirect adjustment, will
Figure 500459DEST_PATH_IMAGE030
Formula (II) and
Figure 929298DEST_PATH_IMAGE031
the formula is combined and written in the form of a correction number to yield:
Figure 754034DEST_PATH_IMAGE032
Figure 201196DEST_PATH_IMAGE033
are respectively
Figure 187607DEST_PATH_IMAGE034
Corresponding correction numbers, in parallel
Figure 867856DEST_PATH_IMAGE035
Formula (II) and
Figure 965125DEST_PATH_IMAGE036
the formula can be obtained:
Figure 532372DEST_PATH_IMAGE037
to pair
Figure 689684DEST_PATH_IMAGE038
The formula uses indirect adjustment to solve the parameters, and order
Figure 93115DEST_PATH_IMAGE039
Wherein:
Figure 994075DEST_PATH_IMAGE040
obtaining:
Figure 681408DEST_PATH_IMAGE041
calculate the averaged value:
Figure 9621DEST_PATH_IMAGE042
obtaining the measured value of the central coordinate of the target sphere obtained by the spherical fitting algorithm based on the radius constraint
Figure 198550DEST_PATH_IMAGE043
And targetRadius of the sphere
Figure 637622DEST_PATH_IMAGE007
。
Preferably, S3 includes:
based on an industrial measuring system, the industrial measuring system utilizes two theodolites to measure coordinates based on space forward intersection, and sets a coordinate system fixedly connected with the industrial measuring system as a reference coordinate system to obtain a reference value of the center coordinates of a target sphere under the reference coordinate system.
Preferably, S4 includes:
assuming that the scanner coordinate system is obtained in step S2
Figure 382724DEST_PATH_IMAGE044
The central coordinates of each target sphere are
Figure 881838DEST_PATH_IMAGE045
The result of step S3 is a coordinate system of reference
Figure 259861DEST_PATH_IMAGE044
The central coordinates of each target sphere are
Figure 502624DEST_PATH_IMAGE046
And calculating the conversion parameter from the reference coordinate system to the scanner coordinate system based on the three-dimensional coordinate conversion model of the direction cosine, wherein the conversion parameter comprises the following parameters:
Figure 961287DEST_PATH_IMAGE047
wherein,
Figure 880570DEST_PATH_IMAGE048
,
Figure 729578DEST_PATH_IMAGE049
,
Figure 776031DEST_PATH_IMAGE050
,
Figure 292463DEST_PATH_IMAGE051
,
Figure 884112DEST_PATH_IMAGE052
,
Figure 220416DEST_PATH_IMAGE053
,
Figure 804981DEST_PATH_IMAGE054
,
Figure 379182DEST_PATH_IMAGE055
,
Figure 439935DEST_PATH_IMAGE056
is the cosine of the direction,
Figure 529114DEST_PATH_IMAGE057
，
Figure 651791DEST_PATH_IMAGE058
，
Figure 142815DEST_PATH_IMAGE059
for the origin of the scanner coordinate system to be in relation to the origin of the reference coordinate system
Figure 76267DEST_PATH_IMAGE060
，
Figure 387163DEST_PATH_IMAGE061
，
Figure 313530DEST_PATH_IMAGE062
A translation value in a direction;
the matrix formed by the 9 direction cosines is an orthogonal matrix, other 6 direction cosine values are calculated by 3 direction cosine values, and the formula can be solved by the center coordinates of more than 3 groups of target spheres by the least square method
Figure 659061DEST_PATH_IMAGE063
Of the respective parameters, i.e.And obtaining the conversion parameter from the reference coordinate system to the scanner coordinate system.
Preferably, the radial repeatability and target repeatability are, in particular, based on repeated measurements of a single target by the scanner; the radial distance indication error and the spatial distance indication error are specifically compared by means of a reference value and a measured value.
Preferably, S5.1 comprises:
repeated measurements of a single target sphere by laser scanner
Figure 261949DEST_PATH_IMAGE002
Obtaining a single target ball
Figure 60141DEST_PATH_IMAGE002
The cloud data is organized into a group of points,
Figure 790200DEST_PATH_IMAGE064
calculating single target ball from step S2
Figure 990237DEST_PATH_IMAGE002
Coordinates of group center
Figure 265492DEST_PATH_IMAGE065
In which
Figure 550979DEST_PATH_IMAGE066
Calculating individual target balls to laser scanner
Figure 287991DEST_PATH_IMAGE002
Group absolute distance
Figure 139273DEST_PATH_IMAGE067
：
Figure 86893DEST_PATH_IMAGE068
For is to
Figure 859677DEST_PATH_IMAGE002
Group absolute distance averaging
Figure 931539DEST_PATH_IMAGE069
And
Figure 840589DEST_PATH_IMAGE002
the components of the group centre coordinates are respectively averaged
Figure 723225DEST_PATH_IMAGE070
：
Figure 920988DEST_PATH_IMAGE071
Calculating the center point position deviation of each group of target balls
Figure 796540DEST_PATH_IMAGE072
：
Figure 137261DEST_PATH_IMAGE073
Evaluation of radial repeatability
Figure 440066DEST_PATH_IMAGE074
：
Figure 921863DEST_PATH_IMAGE075
Evaluating target repeatability
Figure 335527DEST_PATH_IMAGE076
：
Figure 969902DEST_PATH_IMAGE077
。
Preferably, S5.2 comprises:
selecting one target ball in the test field as a reference target ball,
Figure 443608DEST_PATH_IMAGE078
the selection principle of the individual target ball as the projection target ball, the reference target ball and the projection target ball is as follows: selecting a target ball closest to the laser scanner as a reference target ball, and selecting a plurality of target balls close to the reference target ball as projection target balls;
repeated measurement of target ball by laser scanner
Figure 412701DEST_PATH_IMAGE002
Next, the measured value of the center coordinates of the reference target sphere is obtained in step S2
Figure 630056DEST_PATH_IMAGE079
And projection target sphere center coordinates
Figure 632121DEST_PATH_IMAGE080
Wherein
Figure 276729DEST_PATH_IMAGE081
，
Figure 733118DEST_PATH_IMAGE082
Obtaining the reference value of the center coordinates of the sphere of the reference target from step S3
Figure 691847DEST_PATH_IMAGE083
And reference value of center coordinates of projection target ball
Figure 550081DEST_PATH_IMAGE084
；
Calculating absolute distance from center of reference target ball to center of laser scanner based on measured value
Figure 850744DEST_PATH_IMAGE085
：
Figure 591167DEST_PATH_IMAGE086
Calculating projection target sphere center to laser scan based on measurementsAbsolute distance of instrument center
Figure 353586DEST_PATH_IMAGE087
：
Figure 66328DEST_PATH_IMAGE088
Projecting the measured value of the central coordinate of the projection target sphere to the connecting line between the center of the laser scanner and the center of the reference target sphere, wherein the connecting line is arranged in the radial direction of the laser scanner, and the central coordinate of the laser scanner is set as
Figure 302006DEST_PATH_IMAGE089
Then, then
Figure 264145DEST_PATH_IMAGE087
In that
Figure 95835DEST_PATH_IMAGE090
Is projected in the direction of
Figure 944974DEST_PATH_IMAGE091
Comprises the following steps:
Figure 836706DEST_PATH_IMAGE092
the measurement value of the relative distance in the radial direction of the laser scanner
Figure 754984DEST_PATH_IMAGE093
Comprises the following steps:
Figure 655944DEST_PATH_IMAGE094
then, according to step S4, the conversion parameter from the reference coordinate system to the scanner coordinate system is calculated, and the reference values of the center coordinates of the reference target ball and the projection target ball are substituted into the formula
Figure 595474DEST_PATH_IMAGE063
To obtain laserReference value of center coordinates after conversion of reference target ball and projection target ball under scanner coordinate system
Figure 923687DEST_PATH_IMAGE095
And
Figure 63682DEST_PATH_IMAGE096
：
Figure 502753DEST_PATH_IMAGE097
according to the results of the above two formulas
Figure 795325DEST_PATH_IMAGE098
A and B type
Figure 294440DEST_PATH_IMAGE099
A and B type
Figure 921730DEST_PATH_IMAGE100
And formula
Figure 164493DEST_PATH_IMAGE101
The steps are sequentially calculated to obtain a reference value of the radial relative distance of the laser scanner
Figure 764101DEST_PATH_IMAGE102
Finally, the radial distance indicating error is calculated
Figure 683385DEST_PATH_IMAGE103
：
Figure 797971DEST_PATH_IMAGE104
Get
Figure 844425DEST_PATH_IMAGE105
Maximum value of radial distance indicating value error obtained by repeated measurement
Figure 95277DEST_PATH_IMAGE106
As an evaluation result of the laser scanner radial distance indication error.
Preferably, S5.3 comprises:
repeated measurement of target ball by laser scanner
Figure 686927DEST_PATH_IMAGE107
Wherein
Figure 288810DEST_PATH_IMAGE108
Obtained in step S2
Figure 873375DEST_PATH_IMAGE105
Measurement of individual target sphere center coordinates
Figure 244313DEST_PATH_IMAGE109
，
Figure 508329DEST_PATH_IMAGE110
Obtained in step S3
Figure 597508DEST_PATH_IMAGE105
Reference value of central coordinates of target ball
Figure 985764DEST_PATH_IMAGE111
,
Calculating reference values of space distances between a plurality of target balls based on the reference values
Figure 945629DEST_PATH_IMAGE112
Wherein
Figure 410240DEST_PATH_IMAGE113
And
Figure 721135DEST_PATH_IMAGE114
number of target ball:
Figure 647503DEST_PATH_IMAGE115
calculating the measured value of the space distance between two target balls based on the measured value
Figure 727455DEST_PATH_IMAGE116
：
Figure 595922DEST_PATH_IMAGE117
Calculating space distance indicating value error based on measured value and reference value of space distance between multiple target balls
Figure 128535DEST_PATH_IMAGE118
：
Figure 124173DEST_PATH_IMAGE119
Calculating the standard deviation of the space distance indicating value error:
Figure 58631DEST_PATH_IMAGE120
taking the maximum value of the standard deviation
Figure 333885DEST_PATH_IMAGE121
As an evaluation result of the laser scanner spatial distance indication error.
Compared with the prior art, the invention has the beneficial effects that: the method gets rid of the fixed requirement of the prior art on the field, realizes the experiment under any field, obtains the spherical center coordinate based on the spherical fitting algorithm of radius constraint on the basis that the laser scanner obtains a large number of three-dimensional coordinates on the surface of the target, and greatly improves the precision of extracting the central coordinate of the target; the measurement precision of the reference data acquisition equipment is higher than that of a laser scanner, so that the reference data acquisition equipment can be used without a specific instrument or an integrated device, the cost is saved, and meanwhile, the application scene is expanded; the position of the scanner is usually fixed during the experiment, so that the error of the laser scanner caused by movement is reduced; the selected spherical target is more stable and reliable due to the anisotropy, so that the acquired point cloud is uniform in density and proper in quantity; the operation process is simple, and the precision evaluation of the laser scanner can be completed more efficiently.
Drawings
FIG. 1 is a schematic diagram of an industrial measurement system measuring and acquiring center coordinates of a target sphere according to the present invention;
FIG. 2 is a schematic diagram of the present invention for evaluating the error in the radial distance indication;
FIG. 3 is a schematic diagram of the error of the indication of the estimated spatial distance according to the present invention;
FIG. 4 is a technical flow chart of the present invention;
the reference numerals include: a is the projection direction of the connection of the scanner and the first target ball, 1 is the instrument center of the industrial measurement system, 2 is the instrument center of the A, 3 is the instrument center of the B, 4 is the scanner, 5 is the target ball measured by the scanner, and 6 is the target ball uniformly distributed along the circumferential direction.
Detailed Description
The invention is described in further detail below with reference to the following figures and detailed description:
first, a noun explanation of several technical terms related to the present invention is given:
target: refers to a scan target having a geometric center and which can be used for calibration;
absolute distance: the distance between the origin (starting point of distance measurement) of the instrument internal coordinate system and the center of the target is referred to;
relative distance: refers to the distance between the centers of the targets;
reference distance: refers to the distance between the centers of the targets as a reference value;
laser scanner: the system mainly comprises a laser ranging system, a laser scanning system, a control system, a power supply system, accessories and the like, and can quickly and massively acquire space point location information and establish a scanning target ground three-dimensional point cloud model.
A method for evaluating laser scanner indexes of spatial multi-target layout is disclosed, as shown in FIG. 4, and includes:
s1: collecting target sphere point cloud data;
s2: acquiring a target sphere center coordinate based on a spherical fitting algorithm of radius constraint;
s3: the high-precision equipment acquires the central coordinates of the target ball;
s4: calculating conversion parameters from a reference coordinate system to a scanner coordinate system based on the three-dimensional coordinate transformation model;
s5: evaluating multiple indexes of the laser scanner;
s5.1, evaluating the radial repeatability and the target repeatability of the laser scanner;
s5.2, evaluating the radial distance indicating error of the laser scanner;
s5.3, evaluating a space distance indicating value error of the laser scanner;
the acquiring target ball point cloud data in step S1 includes: lay a plurality of target balls in the test field, every target ball is inequality to laser scanner's distance, and every target ball erects highly inequality, has guaranteed that the target ball is spatial distribution in the test field, erects laser scanner simultaneously, utilizes laser scanner to carry out repeated measurement to the target ball in the test field, acquires multiunit point cloud data.
Step S2 includes:
setting a coordinate system fixedly connected with the laser scanner as a scanner coordinate system, and extracting a target sphere in the point cloud data acquired in the step S1 by using manual or software, wherein the radius of the target sphere is known as
Figure 416111DEST_PATH_IMAGE122
The point cloud data of a single target ball is
Figure 684281DEST_PATH_IMAGE123
Points, each point having coordinates of
Figure 991022DEST_PATH_IMAGE124
，
Figure 952025DEST_PATH_IMAGE125
And establishing a space spherical equation on the basis of the following steps:
Figure 724809DEST_PATH_IMAGE126
wherein,
Figure 734353DEST_PATH_IMAGE127
,
Figure 908982DEST_PATH_IMAGE128
respectively as a sphere center coordinate and a radius;
to pair
Figure 526040DEST_PATH_IMAGE129
Formula expansion and transposition can be given:
Figure 786120DEST_PATH_IMAGE130
recording:
Figure 396093DEST_PATH_IMAGE131
solving the over-determined equation according to the following formula
Figure 425229DEST_PATH_IMAGE132
：
Figure 977301DEST_PATH_IMAGE133
Can be obtained by calculation
Figure 459098DEST_PATH_IMAGE134
，
Figure 872762DEST_PATH_IMAGE135
，
Figure 756405DEST_PATH_IMAGE136
，
Figure 980844DEST_PATH_IMAGE128
The value of (a) is,obtaining approximate value of the center coordinate of the target sphere under the coordinate system of the scanner
Figure 949937DEST_PATH_IMAGE137
And approximation of target sphere radius
Figure 901712DEST_PATH_IMAGE138
；
Constructor function
Figure 905440DEST_PATH_IMAGE139
，
To the function in
Figure 56106DEST_PATH_IMAGE140
Is linearized in the place, so that
Figure 246916DEST_PATH_IMAGE141
，
Figure 267962DEST_PATH_IMAGE142
，
Figure 860617DEST_PATH_IMAGE143
，
Figure 426859DEST_PATH_IMAGE144
，
Figure 370544DEST_PATH_IMAGE145
，
Figure 929701DEST_PATH_IMAGE146
Obtaining:
Figure 642442DEST_PATH_IMAGE147
wherein,
Figure 612541DEST_PATH_IMAGE148
for setting the radius of the target sphereAnd evaluating, and setting a radius constraint equation of the target ball as follows:
Figure 246785DEST_PATH_IMAGE149
by indirect adjustment, will
Figure 344054DEST_PATH_IMAGE150
Formula (II) and
Figure 176881DEST_PATH_IMAGE151
the formula is combined and written in the form of a correction number to yield:
Figure 616083DEST_PATH_IMAGE152
Figure 534361DEST_PATH_IMAGE153
are respectively
Figure 169741DEST_PATH_IMAGE154
Corresponding correction numbers, in parallel
Figure 591495DEST_PATH_IMAGE155
Formula (II) and
Figure 171906DEST_PATH_IMAGE156
the formula can be obtained:
Figure 311900DEST_PATH_IMAGE157
to pair
Figure 16551DEST_PATH_IMAGE158
The formula uses indirect adjustment to solve the parameters, and order
Figure 558391DEST_PATH_IMAGE159
Wherein:
Figure 808238DEST_PATH_IMAGE160
obtaining:
Figure 435528DEST_PATH_IMAGE161
calculate the averaged value:
Figure 678291DEST_PATH_IMAGE162
obtaining the measured value of the central coordinate of the target sphere obtained by the spherical fitting algorithm based on the radius constraint
Figure 74637DEST_PATH_IMAGE163
And target sphere radius
Figure 993920DEST_PATH_IMAGE164
。
The step S3 of acquiring coordinates of the center of the target sphere by the high-precision device includes:
taking the industrial measurement system 1 as an example, the industrial measurement system 1 performs coordinate measurement by using two theodolites based on spatial forward intersection, and sets a coordinate system fixedly connected with the industrial measurement system 1 as a reference coordinate system to obtain a target sphere center coordinate (defined as a reference value of the target sphere center coordinate) under the reference coordinate system. As shown in fig. 1, the industrial measurement system 1 uses two theodolites to measure coordinates based on a spatial front intersection, the two theodolites are respectively set to be A, B, a coordinate system is established by using an instrument center 2 of a as a coordinate origin, a horizontal projection of a A, B center connecting line is an X-axis, a length of a projection line is b, a height difference between A, B is h, a plumb line direction of the instrument center 2 of a is a Z-axis, and a Y-axis is determined by using a right-hand rule;
preferably, S3 includes:
based on an industrial measuring system, the industrial measuring system utilizes two theodolites to measure coordinates based on space forward intersection, and sets a coordinate system fixedly connected with the industrial measuring system as a reference coordinate system to obtain a reference value of the center coordinates of a target sphere under the reference coordinate system.
Preferably, S4 includes:
assuming that the scanner coordinate system is obtained in step S2
Figure 108507DEST_PATH_IMAGE165
The central coordinates of each target sphere are
Figure 889381DEST_PATH_IMAGE166
From step S3, the coordinate system of reference is obtained
Figure 405813DEST_PATH_IMAGE165
The central coordinates of each target sphere are
Figure 263042DEST_PATH_IMAGE167
And calculating conversion parameters from a reference coordinate system to a scanner coordinate system based on a three-dimensional coordinate transformation model of direction cosine, wherein the conversion parameters comprise:
Figure 864924DEST_PATH_IMAGE168
wherein,
Figure 449489DEST_PATH_IMAGE169
,
Figure 820428DEST_PATH_IMAGE170
,
Figure 84443DEST_PATH_IMAGE171
,
Figure 908043DEST_PATH_IMAGE172
,
Figure 296299DEST_PATH_IMAGE173
,
Figure 521744DEST_PATH_IMAGE174
,
Figure 455196DEST_PATH_IMAGE175
,
Figure 234933DEST_PATH_IMAGE176
,
Figure 161301DEST_PATH_IMAGE177
is the cosine of the direction of the line,
Figure 241252DEST_PATH_IMAGE178
，
Figure 906458DEST_PATH_IMAGE179
，
Figure 907912DEST_PATH_IMAGE180
for the origin of the scanner coordinate system to be in relation to the origin of the reference coordinate system
Figure 637970DEST_PATH_IMAGE181
，
Figure 572428DEST_PATH_IMAGE182
，
Figure 910000DEST_PATH_IMAGE183
A translation value in a direction;
the matrix formed by the 9 direction cosines is an orthogonal matrix, other 6 direction cosine values are calculated by 3 direction cosine values, and the formula can be solved by the center coordinates of more than 3 groups of target spheres by the least square method
Figure 195488DEST_PATH_IMAGE184
And obtaining the conversion parameters from the reference coordinate system to the scanner coordinate system.
Preferably, the radial repeatability and target repeatability are, in particular, based on repeated measurements of a single target by the scanner; the radial distance indication error and the spatial distance indication error are specifically compared by means of a reference value and a measured value.
The evaluating laser scanner radial repeatability and target repeatability includes:
according to the process of obtaining the radial repeatability and the target repeatability, as shown in fig. 2, the scanner 4 and the target balls 5 measured by the scanner are arranged, the target balls 5 measured by the scanner are a plurality of, on the basis of the arrangement, in the approximate projection direction of the connecting line of the scanner 4 and the first target ball and at a certain distance from the first target ball, the second target ball is arranged, the height of the tripod is adjusted to be approximately the same as that of the scanner 4, the industrial measuring system 1 is arranged at a certain distance from the two target balls, and the industrial measuring system 1 is additionally arranged in the field
Figure 198079DEST_PATH_IMAGE185
Calculating the conversion relation from the coordinate system of the industrial measurement system 1 to the coordinate system of the scanner by using a seven-parameter method for each target ball;
preferably, S5.1 comprises:
repeated measurement of single target ball by laser scanner
Figure 252623DEST_PATH_IMAGE186
Obtaining a single target ball
Figure 465823DEST_PATH_IMAGE186
The cloud data is organized into a group of points,
Figure 973027DEST_PATH_IMAGE187
calculating single target ball from step S2
Figure 44888DEST_PATH_IMAGE186
Coordinates of group center
Figure 219518DEST_PATH_IMAGE188
Wherein
Figure 836575DEST_PATH_IMAGE189
Calculating individual target balls to laser scanner
Figure 96655DEST_PATH_IMAGE186
Group absolute distance
Figure 706628DEST_PATH_IMAGE190
：
Figure 735764DEST_PATH_IMAGE191
To pair
Figure 22258DEST_PATH_IMAGE123
Group absolute distance averaging
Figure 769634DEST_PATH_IMAGE192
And
Figure 183298DEST_PATH_IMAGE123
averaging the components of the group center coordinates
Figure 66940DEST_PATH_IMAGE193
：
Figure 291379DEST_PATH_IMAGE194
Calculating the center point position deviation of each group of target balls
Figure 260472DEST_PATH_IMAGE195
：
Figure 477827DEST_PATH_IMAGE196
Evaluation of radial repeatability
Figure 481555DEST_PATH_IMAGE197
：
Figure 124500DEST_PATH_IMAGE198
Evaluation of target repeatability
Figure 315310DEST_PATH_IMAGE199
：
Figure 336355DEST_PATH_IMAGE200
。
The radial distance indicating errors of the laser scanners are evaluated and uniformly distributed in an experimental field as shown in figure 3
Figure 194590DEST_PATH_IMAGE201
Each target ball, through the height of adjusting the tripod, make the height difference of each target ball, and arrange even basis at the target ball, make the horizontal distance of each target ball and instrument keep different, settle scanner 4 at the place intermediate position, settle industrial measurement system 1 in the place simultaneously, it does not have the sheltering from to require between the target ball, guarantee that the target ball is in scanner 4 and industrial measurement system 1's measuring range, for example can set up the target ball 6 of laying along circumference, with industrial measurement system 1 repeated measurement
Figure 760831DEST_PATH_IMAGE202
A target ball, wherein
Figure 704517DEST_PATH_IMAGE203
；
Preferably, S5.2 comprises:
selecting one target ball in the test field as a reference target ball,
Figure 998095DEST_PATH_IMAGE204
the selection principle of the individual target ball as the projection target ball, the reference target ball and the projection target ball is as follows: selecting a target ball closest to the laser scanner as a reference target ball, and selecting a plurality of target balls closer to the reference target ball as projection target balls;
repeated measurement of target ball by laser scanner
Figure 710836DEST_PATH_IMAGE205
Next, the measured value of the center coordinates of the reference target sphere is obtained in step S2
Figure 946514DEST_PATH_IMAGE206
And projection target sphere center coordinates
Figure 580758DEST_PATH_IMAGE207
Wherein
Figure 678027DEST_PATH_IMAGE208
，
Figure 245274DEST_PATH_IMAGE209
The reference value of the center coordinates of the reference target sphere is obtained in step S3
Figure 402586DEST_PATH_IMAGE210
And reference value of center coordinates of projection target ball
Figure 71596DEST_PATH_IMAGE211
；
Calculating absolute distance from center of reference target ball to center of laser scanner based on measured value
Figure 706977DEST_PATH_IMAGE212
：
Figure 394310DEST_PATH_IMAGE213
Calculating absolute distance from center of projection target ball to center of laser scanner based on measured value
Figure 722523DEST_PATH_IMAGE214
：
Figure 380294DEST_PATH_IMAGE215
Projecting the measured value of the central coordinate of the projection target sphere to the connecting line between the center of the laser scanner and the center of the reference target sphere, wherein the connecting line is arranged in the radial direction of the laser scanner, and the central coordinate of the laser scanner is set as
Figure 819366DEST_PATH_IMAGE216
Then, then
Figure 626785DEST_PATH_IMAGE214
In that
Figure 125899DEST_PATH_IMAGE217
Is projected in the direction of
Figure 503922DEST_PATH_IMAGE218
Comprises the following steps:
Figure 215526DEST_PATH_IMAGE219
the measurement value of the relative distance in the radial direction of the laser scanner
Figure 877451DEST_PATH_IMAGE220
Comprises the following steps:
Figure 547467DEST_PATH_IMAGE221
then, according to step S4, the conversion parameter from the reference coordinate system to the scanner coordinate system is calculated, and the reference values of the center coordinates of the reference target ball and the projection target ball are substituted into the formula
Figure 176900DEST_PATH_IMAGE222
Obtaining the reference value of the center coordinates of the standard target ball and the projection target ball after conversion under the coordinate system of the laser scanner
Figure 957775DEST_PATH_IMAGE223
And
Figure 474207DEST_PATH_IMAGE224
：
Figure 49544DEST_PATH_IMAGE225
according to the results of the above two formulas
Figure 667739DEST_PATH_IMAGE226
A and B type
Figure 252304DEST_PATH_IMAGE227
A and B type
Figure 623242DEST_PATH_IMAGE228
And formula
Figure 635061DEST_PATH_IMAGE229
The steps are sequentially calculated to obtain a reference value of the radial relative distance of the laser scanner
Figure 710857DEST_PATH_IMAGE230
Finally, the radial distance indicating error is calculated
Figure 833534DEST_PATH_IMAGE231
：
Figure 597660DEST_PATH_IMAGE232
Get
Figure 265533DEST_PATH_IMAGE205
Maximum value of radial distance indicating value error obtained by repeated measurement
Figure 638746DEST_PATH_IMAGE233
As an evaluation result of the laser scanner radial distance indication error.
Preferably, S5.3 comprises:
repeated measurement of target ball by laser scanner
Figure 676365DEST_PATH_IMAGE234
Wherein
Figure 772628DEST_PATH_IMAGE235
Obtained in step S2
Figure 126249DEST_PATH_IMAGE205
Measurement of individual target sphere center coordinates
Figure 924441DEST_PATH_IMAGE236
，
Figure 388920DEST_PATH_IMAGE237
Obtained in step S3
Figure 838225DEST_PATH_IMAGE205
Reference value of central coordinates of target ball
Figure 690643DEST_PATH_IMAGE238
,
Calculating reference values of space distances between a plurality of target balls based on the reference values
Figure 258022DEST_PATH_IMAGE239
Wherein
Figure 995034DEST_PATH_IMAGE240
And
Figure 49578DEST_PATH_IMAGE241
number of target ball:
Figure 745001DEST_PATH_IMAGE242
calculating the measured value of the space distance between two target balls based on the measured value
Figure 769982DEST_PATH_IMAGE243
：
Figure 107423DEST_PATH_IMAGE244
Calculating space distance indicating value error based on measured value and reference value of space distance between multiple target balls
Figure 16473DEST_PATH_IMAGE245
：
Figure 148377DEST_PATH_IMAGE246
Calculating the standard deviation of the space distance indicating value error:
Figure 893610DEST_PATH_IMAGE247
taking the maximum value of the standard deviation
Figure 972425DEST_PATH_IMAGE248
As an evaluation result of the laser scanner spatial distance indication error. It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.

Claims (7)

1. A laser scanner index evaluation method for spatial multi-target arrangement is characterized by comprising the following steps:
s1, collecting target ball point cloud data;
s2, acquiring a target sphere center coordinate based on a spherical fitting algorithm of radius constraint;
s3, obtaining the central coordinates of the target ball by using measuring equipment;
s4, calculating conversion parameters from a reference coordinate system to a scanner coordinate system based on the three-dimensional coordinate transformation model;
s5, evaluating multiple indexes of the laser scanner;
s5.1, evaluating the radial repeatability and the target repeatability of the laser scanner;
s5.2, evaluating the radial distance indicating error of the laser scanner;
s5.3, evaluating the space distance indicating value error of the laser scanner;
step S1 includes:
arranging a plurality of target balls in a test field, wherein the distance between each target ball and a laser scanner is different, the erection height of each target ball is different, the target balls are ensured to be spatially distributed in the test field, meanwhile, the laser scanners are erected, and the target balls in the test field are repeatedly measured by the laser scanners to obtain a plurality of groups of point cloud data;
step S2 includes:
setting a coordinate system fixedly connected with the laser scanner as a scanner coordinate system, and extracting a target sphere in the point cloud data acquired in the step S1 by using manual or software, wherein the radius of the target sphere is known as
Figure DEST_PATH_IMAGE001
The point cloud data of a single target ball is
Figure DEST_PATH_IMAGE002
Points, each point having coordinates of
Figure DEST_PATH_IMAGE003
，
Figure DEST_PATH_IMAGE004
And establishing a space spherical equation on the basis of the following steps:
Figure DEST_PATH_IMAGE005
wherein,
Figure DEST_PATH_IMAGE006
,
Figure 87918DEST_PATH_IMAGE001
respectively as a sphere center coordinate and a radius;
for is to
Figure DEST_PATH_IMAGE007
Formula expansion and transposition can be given:
Figure DEST_PATH_IMAGE008
recording:
Figure DEST_PATH_IMAGE009
solving the over-determined equation according to the following formula
Figure DEST_PATH_IMAGE010
：
Figure DEST_PATH_IMAGE011
Can be obtained by calculation
Figure DEST_PATH_IMAGE012
，
Figure DEST_PATH_IMAGE013
，
Figure DEST_PATH_IMAGE014
，
Figure 444206DEST_PATH_IMAGE001
To obtain an approximate value of the center coordinates of the target sphere in the scanner coordinate system
Figure DEST_PATH_IMAGE015
And approximation of target sphere radius
Figure DEST_PATH_IMAGE016
；
Constructor function
Figure DEST_PATH_IMAGE017
，
To the function in
Figure DEST_PATH_IMAGE018
Is linearized in the place, so that
Figure DEST_PATH_IMAGE019
，
Figure DEST_PATH_IMAGE020
，
Figure DEST_PATH_IMAGE021
，
Figure DEST_PATH_IMAGE022
，
Figure DEST_PATH_IMAGE023
，
Figure DEST_PATH_IMAGE024
Obtaining:
Figure DEST_PATH_IMAGE025
wherein,
Figure DEST_PATH_IMAGE026
for the designed value of the radius of the target sphere, the radius constraint equation of the target sphere is set as follows:
Figure DEST_PATH_IMAGE027
by indirect adjustment, will
Figure DEST_PATH_IMAGE028
Formula (II) and
Figure DEST_PATH_IMAGE029
the formulae being combined and written in modified formObtaining:
Figure DEST_PATH_IMAGE030
Figure DEST_PATH_IMAGE031
are respectively
Figure DEST_PATH_IMAGE032
Corresponding correction numbers, in parallel
Figure DEST_PATH_IMAGE033
Formula (II) and
Figure DEST_PATH_IMAGE034
the formula can be obtained:
Figure DEST_PATH_IMAGE035
to pair
Figure DEST_PATH_IMAGE036
The formula uses indirect adjustment to solve the parameters, and order
Figure DEST_PATH_IMAGE037
Wherein:
Figure DEST_PATH_IMAGE038
obtaining:
Figure DEST_PATH_IMAGE039
calculate the averaged value:
Figure DEST_PATH_IMAGE040
obtaining the measured value of the central coordinate of the target sphere obtained by the spherical fitting algorithm based on the radius constraint
Figure DEST_PATH_IMAGE041
And target sphere radius
Figure 185460DEST_PATH_IMAGE001
。
2. The method for evaluating the laser scanner index of the spatial multi-target layout according to claim 1, wherein S3 includes:
based on an industrial measurement system, the industrial measurement system utilizes two theodolites to measure coordinates based on space forward intersection, and sets a coordinate system fixedly connected with the industrial measurement system as a reference coordinate system to obtain a reference value of the center coordinates of a target sphere under the reference coordinate system.
3. The method for evaluating the laser scanner index of the spatial multi-target layout according to claim 2, wherein S4 includes:
assuming that the scanner coordinate system is obtained in step S2
Figure DEST_PATH_IMAGE042
The central coordinates of each target sphere are
Figure DEST_PATH_IMAGE043
From step S3, the coordinate system of reference is obtained
Figure 708233DEST_PATH_IMAGE042
The central coordinates of each target sphere are
Figure DEST_PATH_IMAGE044
Calculating a reference coordinate system to based on a three-dimensional coordinate transformation model of direction cosineThe conversion parameters of the scanner coordinate system include:
Figure DEST_PATH_IMAGE045
wherein,
Figure DEST_PATH_IMAGE046
,
Figure DEST_PATH_IMAGE047
,
Figure DEST_PATH_IMAGE048
,
Figure DEST_PATH_IMAGE049
,
Figure DEST_PATH_IMAGE050
,
Figure DEST_PATH_IMAGE051
,
Figure DEST_PATH_IMAGE052
,
Figure DEST_PATH_IMAGE053
,
Figure DEST_PATH_IMAGE054
is the cosine of the direction of the line,
Figure DEST_PATH_IMAGE055
，
Figure DEST_PATH_IMAGE056
，
Figure DEST_PATH_IMAGE057
for the origin of the scanner coordinate system relative to the reference coordinateOrigin of system is at
Figure DEST_PATH_IMAGE058
，
Figure DEST_PATH_IMAGE059
，
Figure DEST_PATH_IMAGE060
A translation value in a direction;
the matrix formed by the 9 direction cosines is an orthogonal matrix, other 6 direction cosine values are calculated by 3 direction cosine values, and the formula can be solved by the least square method through the center coordinates of more than 3 groups of target spheres
Figure DEST_PATH_IMAGE061
And obtaining the conversion parameters from the reference coordinate system to the scanner coordinate system.
4. The method for evaluating the indexes of the laser scanners in the spatial multi-target layout is characterized in that the radial repeatability and the target repeatability are specifically based on repeated measurement of a single target object by the scanners; the radial distance indication error and the spatial distance indication error are specifically compared by means of a reference value and a measured value.
5. The method for evaluating the indexes of the laser scanners in the spatial multi-target layout according to claim 4, wherein S5.1 comprises:
repeated measurement of single target ball by laser scanner
Figure 929130DEST_PATH_IMAGE002
Obtaining a single target ball
Figure 17172DEST_PATH_IMAGE002
The cloud data is organized into a group of points,
Figure DEST_PATH_IMAGE062
calculating single target ball from step S2
Figure 470408DEST_PATH_IMAGE002
Coordinates of group center
Figure DEST_PATH_IMAGE063
Wherein
Figure DEST_PATH_IMAGE064
Calculating individual target balls to laser scanner
Figure 59521DEST_PATH_IMAGE002
Group absolute distance
Figure DEST_PATH_IMAGE065
：
Figure DEST_PATH_IMAGE066
For is to
Figure 853034DEST_PATH_IMAGE002
Group absolute distance averaging
Figure DEST_PATH_IMAGE067
And
Figure 705452DEST_PATH_IMAGE002
the components of the group centre coordinates are respectively averaged
Figure DEST_PATH_IMAGE068
：
Figure DEST_PATH_IMAGE069
Finding the middle of each group of target ballsDeviation of heart point
Figure DEST_PATH_IMAGE070
：
Figure DEST_PATH_IMAGE071
Evaluation of radial repeatability
Figure DEST_PATH_IMAGE072
：
Figure DEST_PATH_IMAGE073
Evaluation of target repeatability
Figure DEST_PATH_IMAGE074
：
Figure DEST_PATH_IMAGE075
。
6. The method for evaluating the indexes of the laser scanners in the spatial multi-target layout according to the claim 5, wherein S5.2 comprises:
selecting one target ball in the test field as a reference target ball,
Figure DEST_PATH_IMAGE076
the selection principle of the individual target ball as the projection target ball, the reference target ball and the projection target ball is as follows: selecting a target ball closest to the laser scanner as a reference target ball, and selecting a plurality of target balls closer to the reference target ball as projection target balls;
repeated measurement of target ball by laser scanner
Figure 164509DEST_PATH_IMAGE002
Next, the measured value of the center coordinates of the reference target sphere is obtained in step S2
Figure DEST_PATH_IMAGE077
And projection target sphere center coordinates
Figure DEST_PATH_IMAGE078
Wherein
Figure DEST_PATH_IMAGE079
，
Figure DEST_PATH_IMAGE080
The reference value of the center coordinates of the reference target sphere is obtained in step S3
Figure DEST_PATH_IMAGE081
And reference value of center coordinates of projection target sphere
Figure DEST_PATH_IMAGE082
；
Calculating the absolute distance from the center of the reference target sphere to the center of the laser scanner based on the measured values
Figure DEST_PATH_IMAGE083
：
Figure DEST_PATH_IMAGE084
Calculating absolute distance from center of projection target ball to center of laser scanner based on measured value
Figure DEST_PATH_IMAGE085
：
Figure DEST_PATH_IMAGE086
Projecting target sphere center coordinatesThe measured value is projected to a connecting line between the center of the laser scanner and the center of the reference target ball, the connecting line is arranged in the radial direction of the laser scanner, and the central coordinate of the laser scanner is set as
Figure DEST_PATH_IMAGE087
Then, then
Figure DEST_PATH_IMAGE088
In that
Figure DEST_PATH_IMAGE089
In the direction of
Figure DEST_PATH_IMAGE090
Comprises the following steps:
Figure DEST_PATH_IMAGE091
the measurement value of the relative distance in the radial direction of the laser scanner
Figure DEST_PATH_IMAGE092
Comprises the following steps:
Figure DEST_PATH_IMAGE093
then, according to the step S4, the conversion parameter from the reference coordinate system to the scanner coordinate system is calculated, and the reference values of the center coordinates of the reference target ball and the projection target ball are substituted into the formula
Figure DEST_PATH_IMAGE094
Obtaining the reference value of the center coordinates of the standard target ball and the projection target ball after conversion under the coordinate system of the laser scanner
Figure DEST_PATH_IMAGE095
And
Figure DEST_PATH_IMAGE096
：
Figure DEST_PATH_IMAGE097
according to the results of the above two formulas
Figure DEST_PATH_IMAGE098
A and B type
Figure DEST_PATH_IMAGE099
A and B type
Figure DEST_PATH_IMAGE100
And formula
Figure DEST_PATH_IMAGE101
The steps are sequentially calculated to obtain a reference value of the radial relative distance of the laser scanner
Figure DEST_PATH_IMAGE102
Finally, the radial distance indicating error is calculated
Figure DEST_PATH_IMAGE103
：
Figure DEST_PATH_IMAGE104
Get
Figure 207246DEST_PATH_IMAGE002
Maximum value of radial distance indicating value error obtained by repeated measurement
Figure DEST_PATH_IMAGE105
As an evaluation result of the laser scanner radial distance indication error.
7. The method for evaluating the indexes of the laser scanners in the spatial multi-target layout according to the claim 6, wherein S5.3 comprises:
repeated measurement of target ball by laser scanner
Figure DEST_PATH_IMAGE106
Wherein
Figure DEST_PATH_IMAGE107
Obtained in step S2
Figure 183161DEST_PATH_IMAGE002
Measurement of individual target sphere center coordinates
Figure DEST_PATH_IMAGE108
，
Figure DEST_PATH_IMAGE109
Obtained in step S3
Figure 740569DEST_PATH_IMAGE002
Reference value of central coordinates of target ball
Figure DEST_PATH_IMAGE110
，
Calculating reference values of space distances between a plurality of target balls based on the reference values
Figure DEST_PATH_IMAGE111
Wherein
Figure DEST_PATH_IMAGE112
And
Figure DEST_PATH_IMAGE113
number of target ball:
Figure DEST_PATH_IMAGE114
calculating the measured value of the space distance between two target balls based on the measured value
Figure DEST_PATH_IMAGE115
：
Figure DEST_PATH_IMAGE116
Calculating space distance indicating value error based on measured value and reference value of space distance between multiple target balls
Figure DEST_PATH_IMAGE117
：
Figure DEST_PATH_IMAGE118
Calculating the standard deviation of the space distance indicating value error:
Figure DEST_PATH_IMAGE119
taking the maximum value of the standard deviation
Figure DEST_PATH_IMAGE120
As an evaluation result of the laser scanner spatial distance indication error.
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