Position-Pose Measurement Algorithm Based on Geometrical Characteristics

Based on the geometrical characteristics, this paper proposes a position-pose measurement algorithm with the non-feature point data of the cooperative target. This method only needs to project six parallel laser beams to the target and obtain the range-finding result without knowing the coordinates of measurement points in target system, then the position-pose of target and the object fixed to it can be figured out. This algorithm is verified by establishing the model of the cooperative target and the position-pose measurement system. The experimental results show that the average absolute error of the pose rotation measured by the algorithm is stable within 0.5 degrees, and the movement is within 1 mm.