Self-Adaptive Weighted Rank-Defect 3D Bundle Adjustment of Laser Tracker

Xuece Miao; Keliang Ding; Tao Luo; Xiaoye He; Wei Wang; Guimin Liu

doi:10.3788/CJL221239

Chinese Journal of Lasers, Volume. 50, Issue 6, 0604004(2023)

Self-Adaptive Weighted Rank-Defect 3D Bundle Adjustment of Laser Tracker

Xuece Miao¹, Keliang Ding^1、*, Tao Luo², Xiaoye He^2、**, Wei Wang², and Guimin Liu³

¹School of Geomatics and Urban Spatial Informatics, Beijing University of Civil Engineering and Architecture, Beijing 102616, China

²National Synchrotron Radiation Laboratory, University of Science and Technology of China, Hefei 230029, Anhui, China

³School of Physics, Sun Yat-sen University, Guangzhou 510275, Guangdong, China

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Figures & Tables(12)

Fig. 1. Flow chart of self-adaptive weighted rank-defect 3D bundle adjustment

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Fig. 2. Layout of instrument and control points

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Fig. 3. Layout of simulated data points and observed values

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Fig. 4. Simulated error diagrams. (a) Error of horizontal angle; (b) error of vertical angle; (c) error of range

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Fig. 5. Adjustment results of data without gross error. (a1)-(a3) Minimum norm; (b1)-(b3) USMN; (c1)-(c3) proposed method

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Fig. 6. Adjustment results of data with gross error. (a1)-(a3) Minimum norm; (b1)-(b3) USMN; (c1)-(c3) proposed method

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Fig. 7. Threshold change during iteration. (a) $c_{0}$ ; (b) $c_{1}$

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Fig. 8. Layout of measured points

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Fig. 9. Coordinate difference between adjustment result of each method and observed value of single central station

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Fig. 10. Coordinate difference between adjustment result of proposed method and that of USMN

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Table 1. RMSE of data without gross error
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Table 1. RMSE of data without gross error
Method RMSE /mm
Minimum norm 0.0372
USMN 0.0252
Proposed method 0.0273

Table 2. RMSE of data with gross error
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Table 2. RMSE of data with gross error
Method RMSE /mm
Minimum norm 0.0587
USMN 0.0264
Proposed method 0.0280

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Xuece Miao, Keliang Ding, Tao Luo, Xiaoye He, Wei Wang, Guimin Liu. Self-Adaptive Weighted Rank-Defect 3D Bundle Adjustment of Laser Tracker[J]. Chinese Journal of Lasers, 2023, 50(6): 0604004

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