针对目前工程测量领域六自由度测量存在精度低、实时性和便携性差等问题, 设计了一种激光标靶, 结合全站仪能够实现空间六自由度测量。在嵌入式平台上, 研究了一种以重心法为核心的光斑中心提取算法, 该算法重复性精度高、鲁棒性好。通过对相机的非模型化参数标定, 提出了一种姿态解算算法。实验数据表明, 激光标靶在全站仪坐标测量精度基础上, 滚转角和俯仰角测量精度可达 0.005°, 方位角测量精度可达 0.006 2°, 满足多种工程测量需求。

To overcome problems in current six Degree-of-freedom (DOF) measurement, such as poor portability, low precision and speed, the paper demonstrates a laser target measurement setup based on embedded system.Cooperating with a total station, laser target can achieve six-DOF measurement.A spot center positioning algorithm is proposed which suits for embedded system, and an attitude resolving algorithm based on non-modeled camera calibration.Tested by experimental results, the laser target angel measurement precision of pitch and roll is 0.005 degree, and azimuth angle measurement precision is 0.006 2 degree with a position measurement precision equaling to total station.The present system is able to be applied to wide measuring situations.