中文摘要：

在研究激光跟踪测量系统结构和工作原理的基础上，建立了系统运动学模型和跟踪转镜中心偏移数学模型。分析了系统测量中基点位置变动误差、转镜跟踪目标反射器跟踪误差和转镜反射面与激光束不垂直误差等。分析结果表明：基点位置变动误差为o．017mm，转镜反射面与激光束不垂直误差为0．0045mm，转镜跟踪目标反射器跟踪误差约为0。因此，在跟踪转镜结构设计中，为保证激光束反射点与基点位置重合及转镜旋转跟踪目标反射器时基点空间位置保持不变，应尽量减少跟踪转镜旋转点与镜面之间的距离。

英文摘要：

The kinematics model and tracking mirror center offset model of a laser tracker system were established on the basis of the research on the structure and working principle of a Laser Tracker System（LTS）. These models could describe not only the motion but also the geometric variations of LTS. The error of LTS base point position,error of tracking mirror tracking target retro-reflector and the error of tracking mirror reflective surface out of vertical to laser beam were analyzed in detail. Theoretical analysis demonstrates that the error of base point position variation is 0. 017 mm, the error of tracking mirror reflective surface out of vertical to laser beam is 0. 004 5 mm and the error of tracking mirror tracking target retro-reflector is about 0. It shows that in order to ensure the based point position coincided with the laser beam reflected point position and unchanged in the course of LTS tracking the target retro-reflector, the distance between the tracking mirror surface and the rota- tion point should be minimized in the design of tracking mirror structure.