中文摘要：

为了实现室内运动目标位姿的高精度测量,建立了一套激光投影成像式位姿测量系统.该系统利用两两共线且交叉排列在同一平面上的点激光投射器作为合作目标捷联在运动目标上,通过与光斑接收幕墙的配合共同组成运动目标位姿测量基线放大系统,利用高速摄像机实时记录幕墙上投影光斑的位置,利用摄像机标定结果求解投影光斑的世界坐标,利用投影光斑之间构成的单位向量建立运动目标位姿解算模型.最后,根据测量原理推导了图像坐标提取、摄像机外部参数标定、光束直线度与目标位姿解算结果之间的误差传递函数.实验结果表明,当摄像机的视场范围为14 000 mmx7 000 mm时,测量系统的姿态角测量精度为1′（1δ）,位置测量精度为5 mm,且误差大小与目标位姿测量误差传递函数理论计算值一致,验证了本文提出的目标位姿测量方法与测量误差传递模型的准确性,能够满足目标位姿测量高精度的要求.

英文摘要：

In order to realize the high precision measurement of indoor moving target pose,a pose measurement system based on laser projection imaging was established.The system used pairwise collinear and crossover arranged on the same plane point laser projector as the cooperation target,the motion target pose measurement baseline amplification system was made up of cooperation target and laser projection point receiving curtain.Then,the high speed camera was used to real-time recording curtain projection light spot,and the world coordinates of projection spots were solved by the camera calibration results,the moving target pose calculation model was established using a unit vector that formed between projection spots.Finally,according to the measurement principle of target pose,the error transform function of image coordinate extraction,the external calibration parameters of camera and the beam straightness were deduced.The experimental results shows that when the cameras field-ofview is around 14 000 mm＆#215; 7 000 mm,the attitude angle measuring accuracy of measurement system is 1＆#39;（1δ）,the position is 5mm,and the target pose measurement error transfer function calculation.To verify the accuracy of the target pose measurement method proposed in this paper and the error transfer model,it can satisfy the target pose high precision requirements.