Abstract
To improve the measurement precision of the shield’s pose, the factors which influence the measurement results are studied in this paper. Coordinate transformation formula is applied to calculate the shield’s pose by transforming the relative coordinate of the shield’s cutter head center in the laser target coordinate system to the world coordinate. The relative coordinate of the cutter head center is calibrated by transforming the formula inversely. The calibration error of the relative coordinate caused by the measurement error of the attitude angle is analyzed detailedly. The position measurement error of the cutter head center is deduced based on the principle of error transfer. Finally, the impact of each attitude angle’s measurement error on the cutter head center is obtained by traversal algorithm in the variation range of attitude angle. According to the different influence degree, the measurement error of each attitude angle is proportionally allocated.
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Pan, M., Zhao, B., Zhu, G. (2009). Allocation of Measurement Error of Shield’s Pose. In: Xie, M., Xiong, Y., Xiong, C., Liu, H., Hu, Z. (eds) Intelligent Robotics and Applications. ICIRA 2009. Lecture Notes in Computer Science(), vol 5928. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10817-4_28
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DOI: https://doi.org/10.1007/978-3-642-10817-4_28
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-10816-7
Online ISBN: 978-3-642-10817-4
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