激光跟踪仪实验报告

一、实验目的
1.了解激光跟踪仪的测量原理；
2.掌握激光跟踪仪的使用方法；
3.使用激光跟踪仪完成微波天线面形测量与分析。

二、实验设备
1.API Tracker 3型激光跟踪仪
2.微波天线
三、实验基础
1.激光跟踪仪简介
激光跟踪测量系统（Laser Tracker System）是工业测量系统中一种高精度的大尺寸测量仪器。

它集合了激光干涉测距技术、光电探测技术、精密机械技术、计算机及控制技术、现代数值计算理论等各种先进技术，对空间运动目标进行跟踪并实时测量目标的空间三维坐标。

它具有高精度、高效率、实时跟踪测量、安装快捷、操作简便等特点，适合于大尺寸工件配装测量。

激光跟踪测量系统基本都是由激光跟踪头（跟踪仪）、控制器、用户计算机、反射器（靶镜）及测量附件等组成。

激光跟踪测量系统的工作基本原理是在目标点上安置一个反射器，跟踪头发出的激光射到反射器上，又返回到跟踪头，当目标移动时，跟踪头调整光束方向来对准目标。

同时，返回光束为检测系统所接收，用来测算目标的空间位置。

简单的说，激光跟踪测量系统的所要解决的问题是静态或动态地跟踪一个在空间中运动的点，同时确定目标点的空间坐标。

2.激光跟踪仪测量原理
图1 激光跟踪仪原理图
干涉距离测量(IFM) 和绝对距离测量(ADM)
API 激光跟踪仪III 包括一个一个红色氦氖激光束，激光束被靶球（SMR）反射回来。

激光跟踪仪通过测量俯仰角（EL）和水平方位角（AZ）以及一个半径距离来决定反射镜中心点的球坐标。

角EL 和AZ 用安装在激光跟踪仪仰角轴和方位角轴上的编码器测量。

半径用一个叫做干涉计的装置测量。

干涉计根据光的氦氖激光的稳定波长测量半径大小。

坐标数据被传送到装有Spatial Analyzer 的电脑主机。

Spatial Analyzer 把这些数据传送到一个用户根据数据系统定义的坐标结构中。

因为干涉计测量距离时是相对测量，激光束路径被打断时距离测量就会变得不合理。

这个中断直到反射镜被测量到一个已知的参考距离例如初始位置来为干涉计重置初始距离，从而继续干涉测距，例如我们通常所说的“回巢”就是在为干涉计重置初始距离，或者通过ADM 来为干涉计置距离。

绝对距离测量(ADM)原理如图2所示：
图2绝对距离测量(ADM)原理如图
API 激光跟踪仪使用氦氖激光进行跟踪和干涉距离测量，作为氦氖激光的补充，API 激光跟踪仪使用一个红外激光做绝对距离测量（ADM）。

使用ADM 功能时用户在一次光束阻断后靶球不需要回到家点来重置激光干涉计距离读数。

四、测量实验
1.测量对象
直径约600mm的轻型铝质微波天线，面形为旋转抛物面。

标准方程：
22
724724
x y
z
+=
图3 微波天线
2.实验要求
（1）设计测量方案；
（2）跟踪仪检校：前后视、一点QVC、四点QVC等；
（3）采用API Tracker 3型激光跟踪仪完成微波天线表面点的采集和测量；
（4）根据测量点集，拟合天线面形方程；
（5）根据测量和拟合结果，评价天线面形。

五、实验过程
1.打开TrackerCalib软件，与激光跟踪仪连接，进行前后视检查，现将
靶镜放置3米以外的地方固定，单击前视/后视检查按钮，如图4所示，知晓偏差大于0.0001，小于0.0004.采用一点QVC进行补偿，将靶镜放置5米外，点击单点快速体积补偿进行体积补偿，如图5所示调整数据小于0.001，如图6所示
图4.前后视检查
图5.QVC补偿窗口
图6.补偿后前后视
2.打开SA ，添加激光跟踪仪设备如图7所示，建立新文件夹建立采集组，采用移动点测量，得到如图8移动点组。

图7 选择设备
图8 移动点组
六、 数据处理及分析
移动点组所有的数据如表1所示，将点组进行拟合，误差超过0.254的点除去，如图9所示，得到拟合图如图10所示：
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p2, 1249.157203, 388.139985, -607.915625
p3, 1254.695521, 391.327490, -608.243813
p4, 1261.474631, 394.512996, -608.480797
p5, 1267.420712, 396.736132, -607.805642
p6, 1273.478366, 398.794246, -607.104487
p7, 1279.943482, 401.247956, -606.153699
p8, 1286.377978, 404.444724, -605.885488
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862.165554, -643.181815
p90, 1240.509596,
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p91, 1234.939841,
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721.764988, -708.001060
p252, 1216.896091,
724.820271, -708.446335
p253, 1210.391617,
726.902794, -709.412735
p254, 1203.664650,
727.905584, -710.837725
p255, 1197.277707,
729.180161, -711.646302
p256, 1189.159554,
731.127497, -712.285782
p257, 1182.508348,
731.204061, -713.277523
p258, 1175.749699,
731.041190, -714.046338
p259, 1169.150276,
730.868209, -714.709740
p260, 1162.368326,
730.788312, -715.253888
p261, 1155.466850,
730.679679, -715.667585
p262, 1148.756266,
730.099110, -716.036795
p263, 1142.289632,
728.114605, -716.687823
p264, 1135.791666,
725.677998, -717.243253
p265, 1129.755461, 723.351351, -717.653867 p266, 1123.439118, 719.942339, -718.215505 p267, 1117.884439, 716.218145, -718.674669 p268, 1112.511632, 712.344168, -719.058112 p269, 1106.824840, 708.480580, -719.310605 p270, 1100.980269, 703.707822, -719.592295 p271, 1095.015229, 699.393843, -719.554084 p272, 1089.475872, 695.454577, -719.337396 p273, 1084.315921, 690.318944, -719.223724 p274, 1079.914926, 684.334279, -719.210054 p275, 1076.526230, 678.764001, -719.184056 p276, 1073.461603, 672.273589, -719.189434 p277, 1071.578690, 665.483979, -719.025217 p278, 1070.729048, 657.920212, -719.123606 p279, 1070.650712, 650.374436, -719.300282 p280, 1071.107445, 642.949100, -719.510382 p281, 1071.574516, 635.768708, -719.694389 p282, 1072.515004, 628.232337, -719.601980 p283, 1074.346380, 622.099191, -719.570400 p284, 1076.806314, 616.145048, -719.569757 p285, 1080.135996, 610.335763, -719.641252 p286, 1084.624305, 604.636063, -719.777729 p287, 1089.085110, 599.330815, -719.804653 p288, 1094.160365, 595.086562, -719.897094 p289, 1099.404955, 591.368501, -719.957561 p290, 1105.784441, 588.707920, -720.251917 p291, 1112.240785, 586.774729, -720.522998 p292, 1119.460463, 584.936962, -720.750108 p293, 1126.233657, 583.612093, -720.939659 p294, 1132.985228, 582.329972, -720.873378 p295, 1139.585222, 581.596897, -720.816259 p296, 1147.243257, 580.220728, -720.435857 p297, 1155.429349, 580.482418, -720.206151 p298, 1162.292412, 581.729514, -720.059624 p299, 1169.082311, 583.505066, -719.858761 p300, 1176.350948, 586.487804, -719.717111 p301, 1182.442175, 590.268535, -719.623965 p302, 1188.478031, 594.325938, -719.412021 p303, 1193.497865, 598.391606, -719.230528 p304, 1198.029047, 603.340767, -719.093429 p305, 1200.210218, 609.402817, -719.390546 p306, 1202.626441, 615.366808, -719.616086 p307, 1203.639818, 621.937907, -719.922213 p308, 1204.497605, 628.403367, -720.158411
图9.点组误差
图10.拟合图
并求其点与抛物面的导数值，得到下图10，得到X.Y.Z三个方向最大最小
导数值。

图10.点组与抛物面导数分析
标准方程为：
22
724724
x y
z
+=
而实际测得值
z
y
x
=
+
746
746
2
2
七、实验感想：
这个实验跟动态摄影测量那个实验是一天做的，而且在一个实验室，都归王老师带，老师带的非常好，原理阐述的很清楚，大家做实验的时候都很有热情，在老师讲完之后，使我们自己动手做，我们在做的时候有很多地方都忘了，所以就一直问老师，老师脾气不错，不厌其烦的跟我们解释，整个实验过程大家都很活跃，合作是一种力量，态度是一种促进，这次实验使我们受益匪浅。