关键词: 关键特征；位姿拟合；2&sigma, 准则；改进的最小二乘法

Abstract: Due to the limitations of processes and performances of producs,the reference points for measuring cabin poses could not be made on the cabins beforehand.Therefore,a method of pose estimation by measuring and fitting the key characteristics of cabins was presented.First,according to the structural features of cabins,the key characteristics which met the assembly precision requirements were selected and measured by laser tracker.The gross error point data of the key characteristics were removed by using 2σ criterion method to improve the problems of poor fault tolerance of least-squares method based on classical surveying adjustment theory.Then the processed data of key characteristics were adopted to fit the origin and the unit vectors of each axis of cabin coordinate system.Finally,parameters of cabin poses were obtained.Simulation results show that the improved least-squares method is helpful to obtain higher precision in fitting cabin poses.The proposed method is practical and universal, which may meet the requirements of the pose estimation of cabins and provide a reference for pose estimation of other rigid bodies.

Key words: key characteristics, pose fitting, 2&sigma, criterion, improved least-squares method