Zheng Xuehan, Wei Zhenzhong, Zhang Guangjun
Appl Opt. 2016 Nov 20;55(33):9495-9503. doi: 10.1364/AO.55.009495.
The theodolite is an important optical measurement instrument in application. Its global calibration, including position and orientation, is a prerequisite for measurement. Most global calibration methods require the theodolite to be leveled precisely, which is time-consuming and susceptible to error. We propose a global calibration method without leveling: it solves position results using the angular distance of control points by nonlinear optimization and then computes orientation parameters (rotation matrix) linearly based on position results. Furthermore, global calibration of multiple theodolites is also introduced. In addition, we introduced a method that can compute the dip direction and tilt angle by decomposing the rotation matrix. We evaluate the calibration algorithms on both computer simulation and real data experiments, demonstrating the effectiveness of the techniques.
经纬仪是一种应用中的重要光学测量仪器。其全局校准，包括位置和方向，是测量的前提条件。大多数全局校准方法要求精确整平经纬仪，这既耗时又容易出错。我们提出了一种无需整平的全局校准方法：通过非线性优化利用控制点的角距求解位置结果，然后基于位置结果线性计算方向参数（旋转矩阵）。此外，还介绍了多个经纬仪的全局校准。另外，我们引入了一种通过分解旋转矩阵来计算倾斜方向和倾斜角的方法。我们在计算机模拟和实际数据实验中对校准算法进行了评估，证明了这些技术的有效性。
