6 DOF long-range precision tracking system

Liqun Qi, Hui Zhang, Peiqing Ye, Guanhong Duan

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

6 Citations (Scopus)

Abstract

A novel design of a 6 DOF tracking system intended for large-scale dynamic robot measurement is presented. By integrating data from three laser tracking systems and an inertial measurement unit, the system provides high-frequency, precision position and attitude data. The drifting convergence problem of the inertial measurement method is corrected by using the laser tracking systems. And the integration of laser tracking systems and inertial measurement unit also increase the overall precision of the combined measurement system. Even if the measurements of laser tracker are intermittent and are obtained at a low frequency, the experimental result indicates the method proposed in this paper is able to reach an accuracy of a few hundred micron. Finally, real experiments performed with a parallel robot are presented and analyzed.
Original languageEnglish
Title of host publication2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004
Pages5307-5311
Number of pages5
Volume6
DOIs
Publication statusPublished - 1 Dec 2004
Externally publishedYes
Event2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004 - The Hague, Netherlands
Duration: 10 Oct 200413 Oct 2004

Conference

Conference2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004
CountryNetherlands
CityThe Hague
Period10/10/0413/10/04

Keywords

  • Extended kalman filter
  • Inertial measurement
  • Multi-sensor data fusion
  • Position and attitude estimation
  • Tracking system

ASJC Scopus subject areas

  • Engineering(all)

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