This paper presents a nonlinear regressive model for the pose (position and orientation) determination of a scanning laser Doppler vibrometer (SLDV) with respect to a structural coordinate system. The nonlinear model is derived from the coordinate transformation and the scanner model. In this nonlinear model the pose is expressed by six independent parameters: three for the translation vector and three for the rotation matrix. The six pose parameters are determined (estimated) by using the least squares technique. Statistical inferences about this model are obtained by linear approximation. To determine the pose, four or more registration (reference) points arc required. For each registration point, the structural coordinates and its corresponding input voltages need to be known. The presented model has been implemented in a laser-based data acquisition system which has been used for modal analysis, structural dynamic modifications, and noise control.
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