基于各向同性广义向量空间的汽车形貌全局自由重建机理与闭环一致性标定方法研究

Vehicle profile is the important technical indicator of the vehicle aerodynamics performance and high-speed driving safety. It has important theoretical significance and applicable value to solve the increasing serious traffic safety issues with the accurate constructions of the global calibration, reconstruction and verification models for the vehicle profile inspection. The research contents include: ①Calibration principle with the closed-loop consistency in the generalized vector space. The inspection model is constructed to reveal the spatial movement rule of the isotropic target in the isotropic generalized vector space. The calibration principle with the closed-loop consistency of the laser plane of the measurement system is built to explore the global calibration principle of the inspection system in the generalized vector space. ②Geometrical model of spatial reconstruction errors of vehicle profile. Harmonic optimization model is established for the vector groups of reconstructed spatial geometrical errors of target points and the vector groups of reconstructed spatial geometrical errors of vehicle body points with the orthogonality constraints. The precise and stable solution method is deeply explored for the reconstruction model. ③Three degrees of freedom verification model with the independent spatial angles for generation/adjustment/measurement. The independent rotation and measurement model is constructed for the isotropic target in the three perpendicular reference planes so as to achieve the extension of the verification scale in the angle space. The system error sources are deeply analyzed to realize the quantitative evaluation of the measurement precision. The project research will prepare the theoretical foundation for realizing the vehicle profile inspection with the features of value traceability and high-accuracy as well as provide the research proof with the reference value.

汽车形貌是汽车空气动力学特性及高速行驶安全性的重要技术指标，建立精确的汽车形貌检测全局标定、重建与检验模型，对解决日益严峻的交通安全问题具有重要的理论意义和应用价值。研究内容包括:①广义向量空间的闭环一致性标定原则。建立各向同性广义向量空间的检测模型，揭示各向同性测量靶标的空间运动规律，构建测量系统激光平面标定的闭环一致性原则，探明广义向量空间的检测系统全局标定机理。②汽车形貌空间重建误差几何模型。构造带有正交约束的靶标点空间重建几何误差向量组和车身点空间重建几何误差向量组的调和优化模型，深入探求重建模型的稳健精确解算方法。③空间角度独立生成/调整/计量的三自由度检验模型。建立三正交基准面内各向同性靶标独立旋转计量模型，实现检验尺度在角度空间范围内的延拓，深度解析系统误差来源并实现测量精度的量化评价。项目研究将为实现可量值溯源、高精度的汽车形貌重建奠定理论基础并提供具有参考价值的研究依据。

汽车形貌是汽车空气动力学特性及高速行驶安全性的重要技术指标，建立精确的汽车形貌检测全局标定、重建与检验模型，对解决日益严峻的交通安全问题具有重要的理论意义和应用价值。本项目完成的研究包括:①研究了汽车形貌检测系统闭环一致性标定方法。基于立方体靶标的汽车形貌检测系统建立了由三维靶标-立方体靶标-外部摄像机构成的求解环和由三维靶标-立方体靶标-内部摄像机构成的求解环组成的汽车形貌检测系统闭环一致性模型。基于柱面靶标的检测系统建立了由柱面靶标-左右内部摄像机-单外部摄像机构成的内部双闭环模型，以及由柱面靶标-中继相机-两个外部摄像机构成的外部双闭环模型。基于球面靶标的检测系统建立了以位姿向量为基础的外部摄像机-球面靶标-内部摄像机-二维靶标闭环一致性模型。②基于柱面靶标的检测系统研究中提出了以柱面靶标坐标系中参数化的激光平面坐标重合误差以及基于归一化距离和角度目标的正交向量约束对检测系统激光平面进行了优化。基于球面靶标的检测系统建立了以球面特征点之间的重建距离与实际距离之差为目标的位姿向量优化模型，实现了基于球面特征的检测系统位姿向量的优化。在以上优化基础上实现了基于空间重建误差几何模型的汽车形貌重建。③完成了基于立方体靶标、柱面靶标、球面靶标的视觉检测系统重建误差试验，并对重建半径、基线距、测量距离等影响因素进行了误差分析。根据三正交基准面内空间角度独立生成的三自由度检验原理，在不同距离下完成了基于球面靶标的汽车形貌检测系统的三个正交平面内旋转角度的测量与检验，并研究分析了测量误差的变化规律。项目研究完成了检测系统闭环一致性标定、重建与检验等研究内容，为实现较大范围的汽车形貌重建提供了理论基础和研究依据，具有一定的科学价值和技术价值。

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