Fig. 1. Attitude measurement system based on laser tracking

Fig. 3. Pinhole imaging principle

Fig. 4. Camera displacement on X_L axis of laser tracking device

Fig. 5. Camera displacement on Z_L axis of laser tracking device

Fig. 6. Rotation of lens on Z_L axis

Fig. 7. System calibration diagram based on multi-position target

Fig. 8. Influence of number of special calibration points on calibration results

Fig. 9. Calibration results for different layouts

Fig. 10. Calibration target

Fig. 11. Influence of calibration point distribution on calibration results

Fig. 12. Calibration experiment platform

Fig. 13. Calibration error of azimuth angle between camera and total station

Fig. 14. Calibration error of pitch angle between camera and total station

Fig. 15. Calibration accuracy of rotation matrix

Fig. 16. Attitude measurement experiment platform

Fig. 17. Accuracy of attitude measurement before and after improvement at different distances