Passive Multi-Target Location Method Based on Rotating Laser Scanning

Boyuan Zhu; Yongjie Ren; Xianlong Duan; Haifeng Zhou; Zhengchao Wang; Wenjie Shen; Jiarui Lin

doi:10.3788/AOS202242.0512001

Acta Optica Sinica, Volume. 42, Issue 5, 0512001(2022)

Passive Multi-Target Location Method Based on Rotating Laser Scanning

Boyuan Zhu¹, Yongjie Ren^1、*, Xianlong Duan², Haifeng Zhou², Zhengchao Wang³, Wenjie Shen¹, and Jiarui Lin¹

Author Affiliations

¹State Key Laboratory of Precision Measurement Technology and Instrument, Tianjin University, Tianjin 300072, China

²CSSC Huangpu Wenchong Shipbuilding Company Limited, Guangzhou, Guangdong 510715, China

³Dalian Shipbuilding Industry Co., Ltd, Dalian, Liaoning 116000, China

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Abstract Get PDF(in Chinese)

Figures & Tables(16)

Fig. 1. Principle of multi-target rendezvous positioning

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Fig. 2. Ray path and region division of cube-corner prism. (a) Ray path; (b) incident zone/exit zone

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Fig. 3. Reflection diagram and equivalent light path of scanning light. (a) Reflection diagram; (b) equivalent light path

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Fig. 4. Geometric model of single point hyperboloid reflection receiver

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Fig. 5. Optical model of rotating laser scanning detection

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Fig. 6. Simulation of reflection receiving with different azimuths. (a1)(b1) -5°; (a2)(b2) 0°; (a3)(b3) 5°; (a4)(b4) 10°; (a5)(b5)15°; (a6)(b6) 20°

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Fig. 7. Schematic diagram of measurement time error. (a) Active receiver mode; (b) prism mode

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Fig. 8. Schematic diagram of scanning light sequence of transmitting station

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Fig. 9. Experimental scene

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Fig. 10. Comparison of signal measurement results at different distances. (a1)(a2) 4 m; (b1)(b2) 8 m

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Fig. 11. Standard deviation of different locations

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Table 1. Calibration results of structural parameters of object to be measuredunit: mm
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Table 1. Calibration results of structural parameters of object to be measuredunit: mm
Parameter B₁ B₂ B₃ B₄ B₅ B₆ O_b
x_b 547.36 345.81 89.02 -422.76 -706.60 -1004.30 0.00
y_b 807.52 528.60 335.20 284.27 -82.31 -255.89 0.00
z_b 386.46 -30.72 -443.91 -107.36 122.17 -202.91 0.00

Table 2. Corresponding time values of prisms
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Table 2. Corresponding time values of prisms
Scanning time Prism 1 Prism 2 Prism 3 Prism 4 Prism 5 Prism 6
Δt₁ 0.903994 0.888583 0.882659 0.877732 0.860884 0.843388
Δt₂ 0.164404 0.159718 0.144891 0.126459 0.123458 0.120461

Table 3. Time values of optical signals to be matched

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Table 3. Time values of optical signals to be matched

Optical signal	Location
Optical signal	1	2	3
1	0.117803	0.125096	0.119886
2	0.120665	0.127692	0.122292
3	0.123491	0.130247	0.124668
4	0.140520	0.145656	0.138944
5	0.154528	0.158463	0.150892
6	0.158979	0.162542	0.154712
7	0.842701	0.851776	0.848227
8	0.858969	0.866520	0.861905
9	0.874662	0.880765	0.875142
10	0.879136	0.884784	0.878843
11	0.884736	0.889926	0.883651
12	0.899173	0.903080	0.895896

Table 4. Time series matching results

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Table 4. Time series matching results

Measuring point	Location
Measuring point	1	2	3
Prism 1	(0.899173, 0.158979)	(0.903080, 0.162542)	(0.895896, 0.154712)
Receiver 1	(0.899170, 0.158976)	(0.903077, 0.162539)	(0.895891, 0.154709)
Prism 2	(0.884736, 0.154528)	(0.889926, 0.158463)	(0.883651, 0.150892)
Receiver 2	(0.884733, 0.154525)	(0.889923, 0.158461)	(0.883647, 0.150890)
Prism 3	(0.879136, 0.140520)	(0.884784, 0.145656)	(0.878843, 0.138944)
Receiver 3	(0.879132, 0.140516)	(0.884780, 0.145652)	(0.878839, 0.138941)
Prism 4	(0.874662, 0.123491)	(0.880765, 0.130247)	(0.875142, 0.124668)
Receiver 4	(0.874660, 0.123487)	(0.880771, 0.130242)	(0.875138, 0.124663)
Prism 5	(0.858969, 0.120665)	(0.866522, 0.127692)	(0.861905, 0.122292)
Receiver 5	(0.858965, 0.120662)	(0.866517, 0.127688)	(0.861901, 0.122289)
Prism 6	(0.842701, 0.117803)	(0.851776, 0.125096)	(0.848227, 0.119886)
Receiver 6	(0.842698, 0.117801)	(0.851772, 0.125092)	(0.848223, 0.119881)

Table 5. Coordinate measurement results

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Table 5. Coordinate measurement results

Location	Coordinate /mm			Error /mm
Location	x	y	z	Δx	Δy	Δz
1	3904.96	-2197.95	240.93	0.37	-0.51	-0.40
2	4418.96	-2314.99	248.22	0.39	-0.35	0.42
3	4763.94	-2607.79	254.34	0.54	0.28	0.58
4	4883.87	-3291.28	256.14	0.41	-0.12	-0.31
5	5403.99	-3593.36	259.11	-0.22	-0.30	-0.33
6	5749.52	-3974.67	263.04	-0.37	-0.39	-0.36
7	6128.32	-4377.98	268.78	-0.33	-0.27	-0.32
8	6170.88	-4997.14	266.78	-0.49	0.35	0.73
9	6421.57	-5383.60	267.33	-0.57	0.67	0.64
10	6951.27	-5630.32	263.59	-0.43	0.79	0.34

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Boyuan Zhu, Yongjie Ren, Xianlong Duan, Haifeng Zhou, Zhengchao Wang, Wenjie Shen, Jiarui Lin. Passive Multi-Target Location Method Based on Rotating Laser Scanning[J]. Acta Optica Sinica, 2022, 42(5): 0512001

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