Estimation Method for Position and Posture of Mobile Carrier Based on Multiple Laser Trackers

摘要

Nowadays, the position and posture of moving objects are playing more and more important roles in space flight, navigation, target tracking and so on. It is crucial to obtain high-precision position and posture of the carriers. Using multiple laser trackers, high-precision position and posture of the carriers can be obtained, but there are still some errors due to the influence of noise and other factors. In this paper, a current statistical model is built, the Kalman filter adaptive algorithm is designed to filter the sampling data of the three laser trackers, removing the influence of noise and other factors on the laser tracking system and obtaining more accurate sampling coordinates. Besides, the three-spline interpolation method is used to obtain the position coordinates of the carrier at any time. Finally, the high-precision position and posture of the carrier at any time are obtained through the calculation of position and posture.