基于惯性-视觉融合姿态解算的隐藏点坐标测量
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关键词：单目视觉；隐藏点坐标测量；惯性测量单元；融合姿态解算中图分类号：TH721;TH744 文献标识码：Adoi：10.37188/OPE.20253319.3043 CSTR：32169.14.OPE.20253319.3043
Abstract： In response to the need for high-precision geometric feature measurement under complex inter visibility conditions in large-scale advanced precision manufacturing，a hidden-point coordinate measurement method based on inertial-visual fused atitude estimation is proposed.The system architecture and measurement principles for hidden-point coordinate determination are analyzed，and Monte Carlo simulations are conducted to identify the principal factors influencing measurement uncertainty. An atitude-fusion approach employing spherical linear interpolation （slerp） for quaternions is introduced to optimize interpolation paths during quaternion fusion，addressing challenges associated with attitude interpolation. On this basis，an inertial - visual fused atitude estimation algorithm is developed. Calibration procedures for the parameters of the hidden-point measurement system are then formulated. An experimental setup is implemented to validate the efectiveness and reliability of the proposed method through parameter calibration and hidden-point coordinate measurement experiments.Experimental results indicate that the repeated calibration deviation of the coordinate transformation matrix remains below 0.03∘ ，and the repeated calibration deviation of the structural parameter of the hidden-point target remains below 45μm ，confirming the stability and reliability of the calibration procedures. Based on the calibration results，the inertial-visual fusion method reduces the mean hidden-point coordinate measurement error by 60% relative to the monocular-vision method，with the maximum spatial coordinate error kept within 130μm over a 10m range. These findings demonstrate that the proposed method meets the geometric measurement requirements of typical high-precision manufacturing environments and exhibits substantial practical potential.
Key words： monocular vision； hidden point coordinate measurement；inertial measurement unit； fusedattitude estimation
1引言
随着现代工业技术的快速发展，大尺寸精密测量技术与装备在航空航天、汽车制造、船舶工业及轨道交通等工程领域的应用需求呈现出日益增长的态势[1]。（剩余17871字）
