• Optics and Precision Engineering
  • Vol. 32, Issue 7, 976 (2024)
Doudou GAO1,2, Dengfeng DONG1,2,*, Qifan QIU1,3, Chengjun CUI1, and Bo WANG1
Author Affiliations
  • 1Institute of Microelectronics, Chinese Academy of Sciences, Beijing00029, China
  • 2University of Chinese Academy of Sciences, Beijing100049, China
  • 3College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing211106, China
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    DOI: 10.37188/OPE.20243207.0976 Cite this Article
    Doudou GAO, Dengfeng DONG, Qifan QIU, Chengjun CUI, Bo WANG. Large range automatic attitude measurement method for laser tracking measurement[J]. Optics and Precision Engineering, 2024, 32(7): 976 Copy Citation Text show less
    Composition of attitude measurement system for laser tracking measurement
    Fig. 1. Composition of attitude measurement system for laser tracking measurement
    Infrared LEDs' layout of cooperative target
    Fig. 2. Infrared LEDs' layout of cooperative target
    Working distance-back focal length fitting curve of electric focusing lens
    Fig. 3. Working distance-back focal length fitting curve of electric focusing lens
    Mathematical model of monocular vision module imaging distortion
    Fig. 4. Mathematical model of monocular vision module imaging distortion
    Flow chart of attitude measurement algorithm
    Fig. 5. Flow chart of attitude measurement algorithm
    Attitude measurement accuracy experimental equipment
    Fig. 6. Attitude measurement accuracy experimental equipment
    Attitude measurement error with cooperative target 1
    Fig. 7. Attitude measurement error with cooperative target 1
    Attitude measurement error with cooperative target 2
    Fig. 8. Attitude measurement error with cooperative target 2
    Distance/mΔα/(°)Δβ/(°)Δγ/(°)
    30.0200.0320.005
    100.0410.0490.039
    Table 1. Result of attitude measurement with cooperative target 1
    Distance/mΔα/(°)Δβ/(°)Δγ/(°)
    30.0260.0260.017
    100.0570.0360.065
    Table 2. Result of attitude measurement with cooperative target 2
    MethodDistance range/mPitch range/(°)Yaw range/(°)Roll range/(°)Δα/(°)Δβ/(°)Δγ/(°)
    Vision and laser alignment12.5±30±30±1800.831.211.54
    POSIT 29±20±20-1.030.99-
    POSIT215±20±20-1.111.15-
    WAOI29±20±20-0.080.07-
    WAOI215±20±20-0.260.11-
    Weighted fusion method188-±30--1.76-
    Our cooperative target 110±30±30±1800.0410.0490.039
    Our cooperative target 210±30±30±1800.0570.0360.065
    Table 3. Comparison of attitude measurement accuracy for laser tracking measurement
    Doudou GAO, Dengfeng DONG, Qifan QIU, Chengjun CUI, Bo WANG. Large range automatic attitude measurement method for laser tracking measurement[J]. Optics and Precision Engineering, 2024, 32(7): 976
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