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大部件对接中基于单位四元数的iGPS 测量位姿比对研究

  

  • 出版日期:2014-10-30 发布日期:2015-05-05

A Unit-quaternion-based Attitude Matching Algorithm Applied for iGPS Measurement

  • Online:2014-10-30 Published:2015-05-05

摘要: :在大尺寸飞机部件数字化对接过程中,iGPS 的应用越来越广泛。本文在研究iGPS
测量数据结构与形式的基础上,提出了基于单位四元数的iGPS 测量位姿比对算法。与目前常
用的一些位姿比对方法相比,该算法具有计算简洁明了、编程实现便捷的优点,尤其适用于大
旋转角、多点实时测量的情形。验证实验结果表明,在不同旋转角和平移量的情况下,该算法
均具有很高的转换精度,可有效适用于iGPS 的测量位姿比对。

关键词: iGPS, 位姿比对, 单位四元数, 坐标转换

Abstract: During digitalized joining procedure of large-scale parts, the iGPS is more and more used as
measuring equipment for 3D coordinates. Based on the features of iGPS-measured-data, a
unit-quaternion-based attitude matching algorithm is proposed. Compared to other existing attitude
matching methods, this algorithm is simpler and more concise in calculation, and thus more effective in
programming. Correspondent verification tests and error calculation indicate the accuracy of this
algorithm for large rotation angles.

Key words: iGPS, attitude matching, unit quaternion, coordinate transformation