Presently,most of the building height measurement uses hand-held laser range finder,and the measurement verticality cannot be guaranteed. To solve the problems existing in height measurement, e. g. , large error of verticality, low accuracy of measurement and efficiency,a self-adjusting height measurement system which integrates adjustment and measurement has been designed. In the system,the current pan tilt zoom( PTZ) attitude information is obtained through the three-axis accelerometer, then the data are received,analyzed and calculated by STM32,and two of pulse width modulation( PWM) signals are output for the first adjustment;the second adjustment is carried out by using PID control algorithm,to realize the autonomous two degrees of freedom(2-DOF) vertical adjustment finally. The height measurement is realized by using laser ranging method,and the data are uploaded to the host computer for display and storage. Through the experimental tests, the self - adjusting altimetry is implemented. The vertical error is ± 1° and height measuring error at fixed point repeatedly is ± 1 mm. Under the condition of 3 kinds of gestures,the vertical adjustment is completed in 2 s,which verifies the feasibility of the design. The self-adjusting height measurement system can effectively store measurement data,greatly improve the measurement accuracy and efficiency.%目前,房屋高度测量大多采用手持激光测距仪,测量的垂直度无法得到保证.针对高度测量中存在的垂直度误差较大、测量精度和效率均较低的问题,设计了一款集调节、测量为一体的自调节测高系统.系统通过三轴加速度计获取当前云台(PTZ)姿态信息,对由STM32控制器接收数据并分析运算输出的2路脉冲宽度调制(PWM)信号进行首次调节,再运用PID控制算法进行2次调节,最终实现了二自由度(2-DOF)的自主垂直调节.采用激光测距的方式进行高度测量,并将数据上传主机进行显示、存储.通过试验测试,证明该系统实现了自调节测高,垂直误差为±1°,某定点的多次高度测量误差为±1 mm,在3种姿态情况下的垂直调节在2 s内完成.由此验证了该设计的可行性.该自调节测高系统能够有效地存储测量数据,大大提高了测量的准确度与效率.
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