CAJ | 학술논문

在基于三维测量点的刚体姿态计算中,刚体的最佳姿态往往需要让刚体的某些关键点满足约束要求.以往的点匹配算法从不考虑原始测点带有工程约束的问题,获得的姿态参数不能满足工程实际的需要.介绍一种带工程约束的点匹配算法,该算法利用多目标优化模型,把两点对称、多点在同一平面上、多点在同一直线上等工程约束引入到点匹配的优化目标函数中,利用牛顿非线性最优化方法求解6个姿态参数.利用权值矢量实现对多个约束进行同时控制的误差分配求解,为带工程约束的刚体最佳姿态计算提供一套有效的解决方案.
재기우삼유측량점적강체자태계산중,강체적최가자태왕왕수요양강체적모사관건점만족약속요구.이왕적점필배산법종불고필원시측점대유공정약속적문제,획득적자태삼수불능만족공정실제적수요.개소일충대공정약속적점필배산법,해산법이용다목표우화모형,파량점대칭、다점재동일평면상、다점재동일직선상등공정약속인입도점필배적우화목표함수중,이용우돈비선성최우화방법구해6개자태삼수.이용권치시량실현대다개약속진행동시공제적오차분배구해,위대공정약속적강체최가자태계산제공일투유효적해결방안.
Constraints of certain key point are often required in the estimation of the best position and orientation for a rigid body in cases of engineering application. Constraints are seldom involved in former point registration method,which result in deficiency of method for constraint rigid body adjustment. A registration method with engineering constraint such as two points' symmetry is proposed,as well as points on certain plane and points on certain line. The constraints are added into registration objective function for optimization by using multi-objective model. Three rotation parameters and three translation parameters are obtained by using classical Newton nonlinear optimization method. Standard examples are presented for the demonstration of the algorithm.