基于超声波测距的激光角度初始化系统研究

为实现双激光源定位系统中激光发射角的自动测量，建立了基于超声波测距的激光角度初始化系统。系统采用主站和从站的工作方式，利用三角定位原理，通过激光牵引超声波测量基线和双边距离，根据角度解算程序，完成系统初始化角度的自动测量。同时，通过加入延时补偿、温度补偿及高度补偿等相关算法，使得在20 m的测量范围内，超声波测距的误差不超过2 cm，激光角度初始化误差小于0.05°。

Research on laser transmitting angle initialization system based on ultrasonic distance measurement

In order to realize the automatic measurement of laser transmitting angle of the dual laser source location system, we established a laser transmitting angle initialization system based on ultrasonic distance measurement. The system finished the automatic measurement of the system initialization angle by adopting the work style of main and secondary stations, using the triangle location principle and carrying out laser-led ultrasound to measure base lines and bilateral distances. At the same time, by adding the concerned algorithma as time delay compensation, temperature compensation and height compensation, in the measurement range of 20 m, ultrasonic measurement error is less than 2 cm, the laser angle initialization error is less than 0.05°.