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CN108050968B - A handheld space object surface coordinate measuring instrument and measuring method - Google Patents

A handheld space object surface coordinate measuring instrument and measuring method Download PDF

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Publication number
CN108050968B
CN108050968B CN201810018990.XA CN201810018990A CN108050968B CN 108050968 B CN108050968 B CN 108050968B CN 201810018990 A CN201810018990 A CN 201810018990A CN 108050968 B CN108050968 B CN 108050968B
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coordinate measuring
measurement
point
coordinate
measuring instrument
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CN108050968A (en
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田新诚
徐小龙
周乐来
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Shandong University
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Shandong University
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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
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant

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  • General Physics & Mathematics (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

The invention discloses a kind of hand-held space object surface coordinate measuring instrument and measurement methods, it is made of a cylindrical body, a cone and a sphere, measurement of coordinates unit is wherein fixed at cylinder axis, data fusion is carried out according to the sensor output data on measurement of coordinates unit and coordinate calculates, and obtains the object coordinates at the sphere of coordinate measuring apparatus tip.Starting point coordinate and measurement of coordinates cell distance bulb distance are determined first；Calculate the direction of starting point coordinate measuring apparatus and the spatial position coordinate of measurement of coordinates unit；Coordinates computed measuring instrument from starting point be moved to measurement point during measuring unit change in displacement；Calculate the coordinate of measurement point measurement of coordinates unit；The direction of measurement point coordinate measuring apparatus is calculated；Calculate the coordinate of measurement point.

Description

A kind of hand-held space object surface coordinate measuring instrument and measurement method
Technical field
The present invention relates to measurement of coordinates fields, and in particular to a kind of hand-held space object surface coordinate measuring instrument and measurement Method.
Background technique
Carrying out accurate measurement to the coordinate of object table millet cake is the basis further produced and processed.Currently used survey The equipment of the coordinate at quantity space midpoint mainly has infrared camera array measurement device, laser tracker, joint arm measuring machine and just Hand over coordinate system three coordinate measuring machine.
Wherein, infrared camera array and laser tracker be required to before measurement of coordinates solid in body surface to be measured Determine index point, infrared camera array needs to paste index point on object being measured surface, and laser tracker is needed in object being measured Surface fixed reflector, and require cannot there is any barrier to block between object being measured and detection device, otherwise will It can not measure.Joint arm measuring machine and orthogonal coordinate system measuring machine volume are larger, need to fix before carrying out measurement of coordinates In specific position, it is not easy to move, and complicated operation.
In conclusion carrying out accurate measurement problem for the coordinate of object table millet cake in the prior art, still lack effective Solution.
Summary of the invention
In order to overcome, poor mobility stringent to measurement environmental requirement existing for above-mentioned existing space coordinate measuring set and Deficiency complicated for operation, the present invention provides a kind of hand-held space object surface coordinate measuring instrument and measurement method, using hand-held Formula coordinate measuring apparatus can continuously measure space object surface coordinate, easy to operate, complicated working environment is adapted to, one Determine to improve work efficiency in degree.
The technical scheme adopted by the invention is that:
A kind of space object surface coordinate measurement method, comprising the following steps:
Step 1: a starting point P is set on space object surface0, the hand-held space of measurement of coordinates unit will be installed Object coordinates measuring instrument is placed on starting point P0Place is based on starting point P0Spatial position coordinate, coordinates computed measuring unit S1In P0 The attitude angle and spatial position coordinate that point measures；
Step 2: by hand-held space coordinate measuring instrument from starting point P0It is moved to a measurement point Pi, coordinates computed measurement list Displacement variable and measurement of coordinates unit of the member on x, tri- directions y, z are in PiIt the spatial position coordinate of point and measures Attitude angle；
Step 3: based on measurement of coordinates unit in PiThe spatial position coordinate and attitude angle of point, calculate and measure on body surface Point PiThe spatial position coordinate of point；
Step 4: repeating step 2-3, the spatial position coordinate of each measurement point on body surface is obtained, according to each measurement point Spatial position coordinate carries out object production and processing.
Further, described that hand-held space object coordinate measuring apparatus is placed on starting point P0Place is based on starting point P0It is empty Between position coordinates, coordinates computed measuring unit is in P0The attitude angle and spatial position coordinate that point measures, comprising:
Hand-held space object coordinate measuring apparatus is placed on starting point P0Place, using Kalman filtering algorithm by measurement of coordinates The measurement data of unit output is merged, and obtains measurement of coordinates unit in P0The attitude angle of point
Based on starting point P0Spatial position coordinate (x0, y0, z0) and measurement of coordinates unit in P0The attitude angle of pointIt calculates hand-held space object coordinate measuring apparatus and is located at P0When, measurement of coordinates unit is in P0The spatial position of point Coordinate (x1, y1, z1)。
Further, the measurement of coordinates unit is in P0Spatial position coordinate (the x of point1, y1, z1) calculation formula are as follows:
x1=x0+d1Cos θ,z1=z0+d1cosγ
Wherein, (x1, y1, z1) it is measurement of coordinates unit in P0The spatial position coordinate of point；(x0, y0, z0) it is starting point P0's Spatial position coordinate；d1For measurement of coordinates cell S1Distance apart from hand-held space object coordinate measuring apparatus end； It is measurement of coordinates unit in P0The attitude angle that point measures.
Further, described that hand-held space object coordinate measuring apparatus is placed on starting point P0Place, using Kalman filtering Algorithm merges the measurement data that measurement of coordinates unit exports, and obtains measurement of coordinates unit in P0The attitude angle of point, comprising:
Hand-held space object surface coordinate measuring instrument is located at body surface starting point P0When place, according to measurement of coordinates unit S1In the measurement data of three-axis gyroscope sensor calculate the first attitude angle, and using first attitude angle as predicted value；Root According to measurement of coordinates cell S1In 3-axis acceleration sensor and three axis magnetometric sensors measurement data calculate the second attitude angle, And using second attitude angle as observation, data fusion is carried out using Kalman filtering algorithm, obtains final measurement of coordinates Cell S1Attitude angle.
Further, it is described by hand-held space coordinate measuring instrument from starting point P0It is moved to a measurement point Pi, coordinates computed Displacement variable and measurement of coordinates unit of the measuring unit on x, tri- directions y, z are in PiThe spatial position coordinate of point and survey The attitude angle obtained, comprising:
By hand-held space coordinate measuring instrument along space object surface from starting point P0It is moved to a measurement point Pi, use Change in displacement calculation formula calculates hand-held space coordinate measuring instrument from starting point P0It is moved to measurement point PiDuring, coordinate Measuring unit S1Displacement variable on x, tri- directions y, z；
It is located at P based on hand-held space coordinate measuring instrument0When measurement of coordinates unit spatial position coordinate (x1, y1, z1) and Measurement of coordinates cell S1Displacement variable on x, tri- directions y, z calculates hand-held space coordinate measuring instrument and is located at PiWhen, Measurement of coordinates unit is in PiSpatial position coordinate (x1', y1', z1')；
When hand-held space coordinate measuring instrument is located at PiWhen, by measurement of coordinates cell S1The measurement data of output is merged, Obtain measurement of coordinates cell S1In PiThe attitude angle that point measures
Further, the change in displacement calculation formula are as follows:
Δ x=∫ ∫ axdt, Δ y=∫ ∫ aydt, Δ z=∫ ∫ azdt
Wherein, dtFor the sampling period；Δ x, Δ y, Δ z are respectively measuring unit S1Displacement in x-axis, y-axis and z-axis becomes Change amount；axComponent of the acceleration value in x-axis measured for the 3-axis acceleration sensor of measurement of coordinates unit；ayFor coordinate survey The acceleration value of 3-axis acceleration sensor measurement of unit is measured in component on the y axis；azFor three axis of measurement of coordinates unit The acceleration value of acceleration transducer measurement is in the component in z-axis.
Further, measurement point P on the body surfaceiThe calculation formula of the spatial position coordinate of point are as follows:
x’i0=x 'i+d1cosθ’i,z’i0=z 'i+d1cosγ’i
Wherein, (xi0', yi0', zi0') be body surface on measurement point PiSpatial position coordinate；(xi', yi', zi’) It is measurement of coordinates unit in PiSpatial position coordinate；For measurement of coordinates cell S1In PiThe attitude angle that point measures； d1For measurement of coordinates cell S1Distance apart from hand-held space object coordinate measuring apparatus end.
A kind of hand-held space object surface coordinate measuring instrument, for realizing above-mentioned space object surface coordinate measurement side Method, including measuring instrument ontology, are fixedly installed measurement of coordinates unit on measuring instrument ontology, and the measurement of coordinates unit includes master Module, sensor module, wireless communication module and power supply module are controlled, the power supply module is for giving measurement of coordinates power supply power supply； Acceleration, angular speed and the magnetic field letter that the sensor module is used to acquire measuring instrument ontology on complex curve welding track Breath, and by data transfer to main control module；The main control module is used for the information of receiving sensor module acquisition, and carries out Data fusion obtains the spatial position coordinate of each point on spatial complex curve welding track；And module will count by wireless communication According to being transmitted to other equipment.
Further, the measuring instrument ontology includes cylindrical body, cone and sphere, and the end of the cylindrical body is provided with The end of cone, the cone is provided with sphere；The coordinate is fixedly installed at the central axis of the cylindrical body to survey Measure unit.
Further, the sensor module includes 3-axis acceleration sensor, three-axis gyroscope sensor and three axis magnetic Force snesor, the 3-axis acceleration sensor are used to acquire acceleration information of the measuring instrument ontology on space object surface, And the acceleration information acquired is transmitted to main control module；The three-axis gyroscope sensor for acquiring measuring instrument ontology for existing Angular velocity information on space object surface, and the angular velocity information acquired is transmitted to main control module；The three axis magnetic force sensing Device is for acquiring Magnetic Field of the measuring instrument ontology on space object surface, and the Magnetic Field acquired is transmitted to master control mould Block.
Compared with prior art, the beneficial effects of the present invention are:
(1) present invention is moved by hand-held space coordinate measuring instrument along body surface, is measured using measurement of coordinates unit Measuring instrument ontology position on a surface of an and posture information, obtain the sky of each measurement point on body surface according to measurement data Between coordinate, planned convenient for the subsequent space coordinate according to measurement point each on body surface, complete object production and processing；
(2) present invention can continuously measure space object surface coordinate using hand-held space object coordinate measuring apparatus, grasp Make simply to be adapted to complicated working environment, improve work efficiency to a certain extent；
(3) hand-held space coordinate measuring instrument structure proposed by the present invention is simple, and small in size, mobility is good, is carrying out It is easy to operate when spatial value measures, space coordinate measuring speed and efficiency are improved to a certain extent.
Detailed description of the invention
Fig. 1 is hand-held space object surface coordinate measuring instrument structure chart of the invention；
Fig. 2 is space object surface coordinate measuring method flow chart of the invention.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
As background technique is introduced, exist in the prior art has barrier between object being measured and detection device Block, Shi Wufa is measured, need to be fixed on specific position before carrying out measurement of coordinates, be not easy to move, and operate compared with For complicated deficiency, in order to solve technical problem as above, present applicant proposes a kind of surveys of hand-held space object surface coordinate Measure instrument and measurement method.
In a kind of typical embodiment of the application, as shown in Figure 1, providing a kind of hand-held space object surface seat Measuring instrument is marked, which includes measuring instrument ontology and measurement of coordinates cell S1。
The measuring instrument ontology includes cylindrical body, cone and sphere, and the end of the cylindrical body is provided with cone, The end of the cone is provided with sphere；The measurement of coordinates list is fixedly installed at the central axis of the cylindrical body First S1。
The measurement of coordinates cell S1Including main control module, sensor module, wireless communication module and power supply module.
Wherein, the power supply module, for giving measurement of coordinates power supply power supply.The power supply module uses lithium battery.
The sensor is used to measure the posture information of measuring instrument ontology on a surface of an, and extremely by data transfer Main control module.The sensor module includes 3-axis acceleration sensor, three-axis gyroscope sensor and three axis magnetometric sensors, The 3-axis acceleration sensor is for acquiring acceleration information of the measuring instrument ontology on space object surface, and what is acquired adds Velocity information is transmitted to main control module；The three-axis gyroscope sensor is used for for acquiring measuring instrument ontology in space object table Angular velocity information on face, and the angular velocity information acquired is transmitted to main control module；The three axis magnetometric sensor is for acquiring Magnetic Field of the measuring instrument ontology on space object surface, and the Magnetic Field acquired is transmitted to main control module.
The main control module is used for the information of receiving sensor module acquisition, and carries out data fusion, obtains spatial complex The spatial position coordinate of each point on curve welding track；And module sends data to computer or industrial machine by wireless communication Device people.
Hand-held space object surface coordinate measuring instrument disclosed by the embodiments of the present invention, by holding space coordinate measuring instrument It is moved along body surface, using measurement of coordinates unit measurement measuring instrument ontology position on a surface of an and posture information, The space coordinate of each measurement point on body surface is obtained according to measurement data, convenient for subsequent according to measurement point each on body surface Space coordinate is planned, object production and processing is completed.
Another exemplary embodiment of the application, as shown in Fig. 2, providing a kind of space object surface coordinate measurement side Method, method includes the following steps:
Step 101: a starting point P is set on space object surface0, measure body surface starting point P0Spatial position Coordinate (x0, y0, z0) and measurement of coordinates cell S1Distance d apart from hand-held space object surface coordinate measuring instrument end1。
During executing step 101, a starting point P is first set on space object surface0, measurement body surface starting Point P0Spatial position coordinate (x0, y0, z0)；By measurement of coordinates cell S1It is fixedly mounted on the survey of hand-held space object surface coordinate It measures at the central axis of measurement ontology of instrument, and measures measurement of coordinates cell S1It is measured apart from hand-held space object surface coordinate The distance d of instrument end1。
Step 102: hand-held space object surface coordinate measuring instrument is placed on body surface starting point P0Place, using card Kalman Filtering algorithm merges the measurement data that measurement of coordinates unit exports, and obtains measurement of coordinates cell S1In P0Point measures Attitude angle
During executing step 102, when hand-held space object surface coordinate measuring instrument is located at body surface starting point P0When place, according to measurement of coordinates cell S1In the measurement data of three-axis gyroscope sensor calculate the first attitude angle, and by this One attitude angle is as predicted value；According to measurement of coordinates cell S1In 3-axis acceleration sensor and three axis magnetometric sensors survey It measures data and calculates the second attitude angle, and using second attitude angle as observation is used as, counted using Kalman filtering algorithm According to fusion, final measurement of coordinates cell S is obtained1Attitude angle.
According to measurement of coordinates cell S1In three-axis gyroscope sensor measurement data calculate the first attitude angle formula It is as follows:
Wherein, gx, gy, gzIt is located at body surface starting point P for hand-held space object surface coordinate measuring instrument0When place, sit Mapping amount cell S1In three-axis gyroscope sensor measurement data.
According to measurement of coordinates cell S1In 3-axis acceleration sensor and three axis magnetometric sensors measurement data calculate The formula of second attitude angle is as follows:
Wherein, ax, ay, azRespectively hand-held space object surface coordinate measuring instrument is located at body surface starting point P0Place When, measurement of coordinates cell S13-axis acceleration sensor measured value；mx, my, mzRespectively hand-held space object surface is sat Mark measuring instrument is located at body surface starting point P0When place, measurement of coordinates cell S1Three axis magnetometric sensors measured value.
Step 103: being based on starting point P0Space coordinate (x0, y0, z0) and measurement of coordinates unit in P0The posture direction of pointIt calculates hand-held space object surface coordinate measuring instrument and is located at P0When point, measurement of coordinates cell S1Space bit Set coordinate (x1, y1, z1)。
During executing step 103, hand-held space object surface coordinate measuring instrument is located at P0When point, measurement of coordinates list First S1Spatial position coordinate (x1, y1, z1) calculation formula are as follows:
x1=x0+d1Cos θ,z1=z0+d1cosγ；
Wherein, (x0, y0, z0) it is body surface starting point P0Spatial position coordinate；For measurement of coordinates cell S1 In P0The attitude angle that point measures.
Step 104: by hand-held space coordinate measuring instrument from starting point P0It is moved to a measurement point Pi, it is empty to calculate hand-held Between coordinate measuring apparatus from starting point P0It is moved to a measurement point PiIn the process, measurement of coordinates cell S1On x, tri- directions y, z Displacement variable Δ x, Δ y, Δ z.
During executing step 104, in hand-held space coordinate measuring instrument from starting point P0It is moved to a measurement point P1It crosses Cheng Zhong, measurement of coordinates cell S1The calculation formula of displacement variable Δ x, Δ y, Δ z on x, tri- directions y, z are as follows:
Δ x=∫ ∫ axdt, Δ y=∫ ∫ aydt, Δ z=∫ ∫ azdt
Wherein, dtFor the sampling period；Δ x, Δ y, Δ z are respectively in hand-held space coordinate measuring instrument from starting point P0It moves It moves to a measurement point PiIn the process, measurement of coordinates cell S1Displacement variable in x-axis, y-axis and z-axis；axIt is displaced and becomes for x-axis Change coefficient；axFor measurement of coordinates cell S13-axis acceleration sensor measurement component of the acceleration value in x-axis；ayTo sit Mapping amount cell S13-axis acceleration sensor measurement acceleration value in component on the y axis；azFor measurement of coordinates unit S13-axis acceleration sensor measurement acceleration value in the component in z-axis.
Step 105: P is located at based on hand-held space coordinate measuring instrument0When measurement of coordinates cell S1Spatial position coordinate (x1, y1, z1) and measurement of coordinates cell S1Change in displacement on x, tri- directions y, z calculates the measurement of hand-held space coordinate Instrument is located at P1When point, measurement of coordinates unit is in P1Space coordinate (the x of point1', y1', z1’)。
During executing step 105, hand-held space coordinate measuring instrument is located at P1When point, measurement of coordinates unit is in P1Point Space coordinate (x1', y1', z1') calculation formula are as follows:
x’1=x1+Δx1, y '1=y1+Δy1, z '1=z1+Δz1
Wherein, (x1, y1, z1) it is that hand-held space coordinate measuring instrument is located at P0When measurement of coordinates cell S1Spatial position sit Mark；Δ x, Δ y, Δ z are respectively in hand-held space coordinate measuring instrument from starting point P0It is moved to a measurement point PiIn the process, it sits Mapping amount cell S1Displacement variable in x-axis, y-axis and z-axis.
Step 106: when hand-held space coordinate measuring instrument is located at P1When point, using Kalman filtering algorithm by measurement of coordinates Cell S1The measurement data of output is merged, and measurement of coordinates cell S is obtained1In P1Putting the attitude angle measured is
During executing step 106, when hand-held space object surface coordinate measuring instrument is located at body surface starting point P1When place, according to measurement of coordinates cell S1In the measurement data of three-axis gyroscope sensor calculate the first attitude angle, and by this One attitude angle is as predicted value；According to measurement of coordinates cell S1In 3-axis acceleration sensor and three axis magnetometric sensors survey It measures data and calculates the second attitude angle, and using second attitude angle as observation is used as, counted using Kalman filtering algorithm According to fusion, final measurement of coordinates cell S is obtained1Attitude angle.
According to measurement of coordinates cell S1In three-axis gyroscope sensor measurement data calculate the first attitude angle formula It is as follows:
Wherein, g 'x, g 'y, g 'zIt is located at body surface starting point P for hand-held space object surface coordinate measuring instrument1Place When, measurement of coordinates cell S1In three-axis gyroscope sensor measurement data.
According to measurement of coordinates cell S1In 3-axis acceleration sensor and three axis magnetometric sensors measurement data calculate The formula of second attitude angle is as follows:
Wherein, ax, ay, azRespectively hand-held space object surface coordinate measuring instrument is located at body surface starting point P0Place When, measurement of coordinates cell S13-axis acceleration sensor measured value；mx, my, mzRespectively hand-held space object surface is sat Mark measuring instrument is located at body surface starting point P0When place, measurement of coordinates cell S1Three axis magnetometric sensors measured value.
Step 107: being based on measurement of coordinates cell S1In P1Space coordinate (the x of point1', y1', z1') and attitude angleCalculate measurement point P on body surface1Spatial position coordinate (the x of point10', y10', z10’)。
During executing step 107, measurement point P on the body surfaceiThe calculation formula of the space coordinate of point are as follows:
x’i0=x '1+d1Cos θ ',z’i0=z '1+d1cosγ’
Wherein, (x10', y10', z10') be body surface on measurement point P1Space coordinate；(x1', y1', z1') it is to sit Measuring unit is marked in P1The spatial position coordinate of point；For measurement of coordinates cell S1In P1The attitude angle of point；d1To sit Mapping amount cell S1Distance apart from hand-held space object coordinate measuring apparatus end.
Step 108: step 104-107 is repeated, the spatial position coordinate of each measurement point on space object surface is obtained, according to The spatial position coordinate of each point is planned on the space object surface of acquisition, completes process of manufacture.
The space object surface coordinate measurement method that the embodiment of the present invention proposes holds space coordinate measurement by operator Instrument is moved along body surface, records the space coordinate of each point on body surface, is planned according to these coordinates of acquisition, Complete process of manufacture；It is easy to operate when carrying out spatial value measurement, space coordinate survey is improved to a certain extent Measure speed and efficiency.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.

Claims (9)

1.一种空间物体表面坐标测量方法，其特征是，包括以下步骤：1. a space object surface coordinate measurement method, is characterized in that, comprises the following steps: 步骤1：在空间物体表面上设定一起始点P0，将安装有坐标测量单元的手持式空间物体坐标测量仪放置在起始点P0处，计算坐标测量单元S1在P0点测得的姿态角，基于起始点P0空间位置坐标，和坐标测量单元S1在P0点测得的姿态角计算坐标测量单元S1在P0点的空间位置坐标；Step 1: Set a starting point P 0 on the surface of the space object, place the hand-held space object coordinate measuring instrument equipped with the coordinate measuring unit at the starting point P 0 , and calculate the measured value of the coordinate measuring unit S 1 at point P 0 . attitude angle, based on the spatial position coordinates of the starting point P 0 and the attitude angle measured by the coordinate measuring unit S 1 at the point P 0 to calculate the spatial position coordinates of the coordinate measuring unit S 1 at the point P 0 ; 步骤2：将手持式空间坐标测量仪从起始点P0移动到一测量点Pi，计算坐标测量单元在x，y，z三个方向上的位移变化量以及坐标测量单元在Pi点的空间位置坐标和测得的姿态角；Step 2: Move the hand-held space coordinate measuring instrument from the starting point P 0 to a measuring point P i , calculate the displacement change of the coordinate measuring unit in the three directions of x, y and z and the displacement of the coordinate measuring unit at the point Pi . The spatial position coordinates and the measured attitude angle; 步骤3：基于坐标测量单元在Pi点的空间位置坐标和姿态角，计算物体表面上测量点Pi点的空间位置坐标；Step 3: Calculate the spatial position coordinates of the measurement point P i on the object surface based on the spatial position coordinates and attitude angle of the coordinate measurement unit at the P i point; 步骤4：重复步骤2-3，得到物体表面上各测量点的空间位置坐标，根据各测量点的空间位置坐标进行物体生产加工；Step 4: Repeat steps 2-3 to obtain the spatial position coordinates of each measurement point on the surface of the object, and perform object production and processing according to the spatial position coordinates of each measurement point; 所述将手持式空间坐标测量仪从起始点P0移动到一测量点Pi，计算坐标测量单元在x，y，z三个方向上的位移变化量以及坐标测量单元在Pi点的空间位置坐标和测得的姿态角，包括：The hand-held space coordinate measuring instrument is moved from the starting point P 0 to a measuring point P i , and the displacement variation of the coordinate measuring unit in the three directions of x, y and z and the space of the coordinate measuring unit at the point Pi are calculated. Position coordinates and measured attitude angles, including: 将手持式空间坐标测量仪沿着空间物体表面从起始点P0移动至一测量点Pi，采用位移变化计算公式计算手持式空间坐标测量仪从起始点P0移动至测量点Pi的过程中，坐标测量单元S1在x，y，z三个方向上的位移变化量；Move the handheld space coordinate measuring instrument from the starting point P 0 to a measurement point P i along the surface of the space object, and use the displacement change calculation formula to calculate the process of the handheld space coordinate measuring instrument moving from the starting point P 0 to the measuring point P i , the displacement variation of the coordinate measurement unit S 1 in the three directions of x, y, and z; 基于手持式空间坐标测量仪位于P0时坐标测量单元的空间位置坐标(x1，y1，z1)和坐标测量单元S1在x，y，z三个方向上的位移变化量，计算手持式空间坐标测量仪位于Pi时，坐标测量单元在Pi的空间位置坐标(xi’，yi’，zi’)；Based on the spatial position coordinates (x 1 , y 1 , z 1 ) of the coordinate measuring unit when the hand-held spatial coordinate measuring instrument is located at P 0 and the displacement variation of the coordinate measuring unit S 1 in the three directions of x, y, and z, calculate When the hand-held space coordinate measuring instrument is located at P i , the coordinate measuring unit is at the spatial position coordinates of P i ( xi ', y i ', z i '); 当手持式空间坐标测量仪位于Pi时，采用卡尔曼滤波算法将坐标测量单元S1输出的测量数据进行融合，得到坐标测量单元S1在Pi点测得的姿态角 When the hand - held space coordinate measuring instrument is located at Pi , the Kalman filter algorithm is used to fuse the measurement data output by the coordinate measuring unit S1 to obtain the attitude angle measured by the coordinate measuring unit S1 at the point Pi. 2.根据权利要求1所述的空间物体表面坐标测量方法，其特征是，所述将手持式空间物体坐标测量仪放置在起始点P0处，计算坐标测量单元S1在P0点测得的姿态角，基于起始点P0空间位置坐标，和坐标测量单元在P0点测得的姿态角计算坐标测量单元S1在P0点的空间位置坐标，包括：2. The method for measuring the coordinates of the surface of a space object according to claim 1, wherein the hand-held space object coordinate measuring instrument is placed at the starting point P 0 , and the calculation coordinate measuring unit S 1 measures at the point P 0 The attitude angle of the coordinate measuring unit S 1 at point P 0 is calculated based on the spatial position coordinates of the starting point P 0 and the attitude angle measured by the coordinate measuring unit at point P 0 , including: 将手持式空间物体坐标测量仪放在起始点P0处，采用卡尔曼滤波算法将坐标测量单元输出的测量数据进行融合，得到坐标测量单元在P0点的姿态角 Place the hand-held space object coordinate measuring instrument at the starting point P 0 , and use the Kalman filter algorithm to fuse the measurement data output by the coordinate measuring unit to obtain the attitude angle of the coordinate measuring unit at point P 0 基于起始点P0的空间位置坐标(x0，y0，z0)和坐标测量单元在P0点的姿态角计算手持式空间物体坐标测量仪位于P0时，坐标测量单元在P0点的空间位置坐标(x1，y1，z1)。Based on the spatial position coordinates (x 0 , y 0 , z 0 ) of the starting point P 0 and the attitude angle of the coordinate measurement unit at the point P 0 Calculate the spatial position coordinates (x 1 , y 1 , z 1 ) of the coordinate measuring unit at point P 0 when the hand-held space object coordinate measuring instrument is located at P 0 . 3.根据权利要求2所述的空间物体表面坐标测量方法，其特征是，所述将手持式空间物体坐标测量仪放在起始点P0处，采用卡尔曼滤波算法将坐标测量单元输出的测量数据进行融合，得到坐标测量单元在P0点的姿态角，包括：3. The method for measuring the coordinates of the surface of a space object according to claim 2, wherein the hand-held space object coordinate measuring instrument is placed at the starting point P 0 , and a Kalman filter algorithm is adopted to measure the output of the coordinate measuring unit. The data is fused to obtain the attitude angle of the coordinate measurement unit at point P 0 , including: 手持式空间物体表面坐标测量仪位于物体表面起始点P0处时，根据坐标测量单元S1中的三轴陀螺仪传感器的测量数据计算第一姿态角，并将该第一姿态角作为预测值；根据坐标测量单元S1中的三轴加速度传感器和三轴磁力传感器的测量数据计算第二姿态角，并将该第二姿态角作为观测值，采用卡尔曼滤波算法进行数据融合，得到最终的坐标测量单元S1的姿态角。When the handheld space object surface coordinate measuring instrument is located at the starting point P 0 of the object surface, the first attitude angle is calculated according to the measurement data of the three-axis gyroscope sensor in the coordinate measuring unit S 1 , and the first attitude angle is used as the predicted value ; Calculate the second attitude angle according to the measurement data of the three - axis acceleration sensor and the three-axis magnetic sensor in the coordinate measuring unit S1, and use the second attitude angle as the observation value, adopt the Kalman filtering algorithm to carry out data fusion, and obtain the final The attitude angle of the coordinate measurement unit S1. 4.根据权利要求1所述的空间物体表面坐标测量方法，其特征是，所述坐标测量单元在P0点的空间位置坐标(x1，y1，z1)的计算公式为：4. The method for measuring the coordinates of the surface of a space object according to claim 1, wherein the calculation formula of the spatial position coordinates (x 1 , y 1 , z 1 ) of the coordinate measuring unit at point P 0 is: 其中，(x1，y1，z1)为坐标测量单元在P0点的空间位置坐标；(x0，y0，z0)为起始点P0的空间位置坐标；d1为坐标测量单元S1距离手持式空间物体坐标测量仪末端的距离；为坐标测量单元在P0点测得的姿态角。Among them, (x 1 , y 1 , z 1 ) are the spatial position coordinates of the coordinate measurement unit at point P 0 ; (x 0 , y 0 , z 0 ) are the spatial position coordinates of the starting point P 0 ; d 1 is the coordinate measurement The distance of unit S1 from the end of the hand-held space object coordinate measuring instrument; is the attitude angle measured by the coordinate measuring unit at point P 0 . 5.根据权利要求1所述的空间物体表面坐标测量方法，其特征是，所述位移变化计算公式为：5. The method for measuring the coordinates of the surface of a space object according to claim 1, wherein the displacement change calculation formula is: Δx＝∫∫axdt，Δy＝∫∫aydt，Δz＝∫∫azdt Δx=∫∫a x d t , Δy=∫∫a y d t , Δz=∫∫a z d t 其中，dt为采样周期；Δx，Δy，Δz分别为测量单元S1在x轴、y轴和z轴上的位移变化量；ax为坐标测量单元的三轴加速度传感器测量的加速度值在x轴上的分量；ay为坐标测量单元的三轴加速度传感器测量的加速度值在在y轴上的分量；az为坐标测量单元的三轴加速度传感器测量的加速度值在在z轴上的分量。Among them, d t is the sampling period; Δx, Δy, Δz are the displacement changes of the measurement unit S1 on the x-axis, y-axis and z-axis respectively; a x is the acceleration value measured by the three-axis acceleration sensor of the coordinate measurement unit at The component on the x-axis; a y is the component on the y-axis of the acceleration value measured by the three-axis acceleration sensor of the coordinate measuring unit; a z is the acceleration value measured by the three-axis acceleration sensor of the coordinate measuring unit on the z-axis. weight. 6.根据权利要求1所述的空间物体表面坐标测量方法，其特征是，所述物体表面上测量点Pi点的空间位置坐标的计算公式为：6. The space object surface coordinate measurement method according to claim 1, wherein the calculation formula of the space position coordinates of the measurement point P i on the object surface is: 其中，(xi0’，yi0’，zi0’)为物体表面上的测量点Pi的空间位置坐标；(xi’，yi’，zi’)为坐标测量单元在Pi的空间位置坐标；为坐标测量单元S1在Pi点测得的姿态角；d1为坐标测量单元S1距离手持式空间物体坐标测量仪末端的距离。Among them, (x i0 ', y i0 ', z i0 ') are the spatial position coordinates of the measurement point P i on the surface of the object; ( xi ', y i ', z i ') are the coordinates of the coordinate measurement unit at P i spatial position coordinates; is the attitude angle measured by the coordinate measuring unit S1 at point Pi ; d1 is the distance between the coordinate measuring unit S1 and the end of the hand - held space object coordinate measuring instrument. 7.一种手持式空间物体表面坐标测量仪，用于实现权利要求1-6中任一项所述的空间物体表面坐标测量方法，其特征是，包括测量仪本体，在测量仪本体上固定设置有坐标测量单元，所述坐标测量单元包括主控模块、传感器模块、无线通信模块和供电模块，所述供电模块用于给坐标测量单元供电；所述传感器模块用于采集测量仪本体在复杂曲线焊接轨迹上的加速度、角速度和磁场信息，并将测量数据传输至主控模块；所述主控模块用于接收传感器模块采集的信息，并进行数据融合，得到空间复杂曲线焊接轨迹上各点的空间位置坐标；并通过无线通信模块将数据传输至其他设备。7. A handheld space object surface coordinate measuring instrument for realizing the method for measuring the space object surface coordinates according to any one of claims 1-6, characterized in that it comprises a measuring instrument body, which is fixed on the measuring instrument body A coordinate measuring unit is provided, the coordinate measuring unit includes a main control module, a sensor module, a wireless communication module and a power supply module, and the power supply module is used to supply power to the coordinate measuring unit; Acceleration, angular velocity and magnetic field information on the curved welding trajectory, and transmit the measurement data to the main control module; the main control module is used to receive the information collected by the sensor module, and perform data fusion to obtain each point on the spatially complex curved welding trajectory the spatial position coordinates; and transmit the data to other devices through the wireless communication module. 8.根据权利要求7所述的手持式空间物体表面坐标测量仪，其特征是，所述测量仪本体包括圆柱体、圆锥体和球体，所述圆柱体的末端设置有圆锥体，所述圆锥体的末端设置有球体；所述圆柱体的中心轴线处固定安装有所述坐标测量单元。8 . The handheld space object surface coordinate measuring instrument according to claim 7 , wherein the measuring instrument body comprises a cylinder, a cone and a sphere, the end of the cylinder is provided with a cone, and the cone The end of the body is provided with a sphere; the coordinate measuring unit is fixedly installed at the central axis of the cylinder. 9.根据权利要求7所述的手持式空间物体表面坐标测量仪，其特征是，所述传感器模块包括三轴加速度传感器、三轴陀螺仪传感器和三轴磁力传感器，所述三轴加速度传感器用于采集测量仪本体在空间物体表面上的加速度信息，并将采集的加速度信息传输至主控模块；所述三轴陀螺仪传感器用于采集测量仪本体在空间物体表面上的角速度信息，并将采集的角速度信息传输至主控模块；所述三轴磁力传感器用于采集测量仪本体在空间物体表面上的磁场信息，并将采集的磁场信息传输至主控模块。9. The hand-held space object surface coordinate measuring instrument according to claim 7, wherein the sensor module comprises a three-axis acceleration sensor, a three-axis gyroscope sensor and a three-axis magnetic force sensor, and the three-axis acceleration sensor is a It is used to collect the acceleration information of the measuring instrument body on the surface of the space object, and transmit the collected acceleration information to the main control module; the three-axis gyro sensor is used to collect the angular velocity information of the measuring instrument body on the surface of the space object, and transmit the collected acceleration information to the main control module; The collected angular velocity information is transmitted to the main control module; the three-axis magnetic sensor is used to collect the magnetic field information of the measuring instrument body on the surface of the space object, and transmit the collected magnetic field information to the main control module.
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